Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Run wpiformat on merged repo (#1021)

Browse Source
This commit is contained in:
Tyler Veness
2018-05-13 17:09:56 -07:00
committed by Peter Johnson
parent 0babbf317c
commit 6729a7d6b1
481 changed files with 9581 additions and 6828 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
hal/src/main/native/cpp/jni/AccelerometerJNI.cpp
View File

@@ -1,12 +1,13 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "HAL/Accelerometer.h"
#include <jni.h>
#include "HAL/Accelerometer.h"
#include "edu_wpi_first_wpilibj_hal_AccelerometerJNI.h"
extern "C" {
@@ -17,8 +18,9 @@ extern "C" {
* Signature: (Z)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_setAccelerometerActive(
JNIEnv *, jclass, jboolean active) {
Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_setAccelerometerActive
(JNIEnv*, jclass, jboolean active)
{
HAL_SetAccelerometerActive(active);
}
@@ -28,8 +30,9 @@ Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_setAccelerometerActive(
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_setAccelerometerRange(
JNIEnv *, jclass, jint range) {
Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_setAccelerometerRange
(JNIEnv*, jclass, jint range)
{
HAL_SetAccelerometerRange((HAL_AccelerometerRange)range);
}
@@ -39,8 +42,9 @@ Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_setAccelerometerRange(
* Signature: ()D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerX(
JNIEnv *, jclass) {
Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerX
(JNIEnv*, jclass)
{
return HAL_GetAccelerometerX();
}
@@ -50,8 +54,9 @@ Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerX(
* Signature: ()D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerY(
JNIEnv *, jclass) {
Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerY
(JNIEnv*, jclass)
{
return HAL_GetAccelerometerY();
}
@@ -61,8 +66,9 @@ Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerY(
* Signature: ()D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerZ(
JNIEnv *, jclass) {
Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerZ
(JNIEnv*, jclass)
{
return HAL_GetAccelerometerZ();
}

105
hal/src/main/native/cpp/jni/AnalogGyroJNI.cpp
View File

@@ -1,19 +1,19 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <assert.h>
#include <jni.h>
#include "HAL/cpp/Log.h"
#include "edu_wpi_first_wpilibj_hal_AnalogGyroJNI.h"
#include <cassert>
#include "HAL/AnalogGyro.h"
#include "HALUtil.h"
#include "HAL/cpp/Log.h"
#include "HAL/handles/HandlesInternal.h"
#include "HALUtil.h"
#include "edu_wpi_first_wpilibj_hal_AnalogGyroJNI.h"
using namespace frc;
@@ -22,9 +22,9 @@ TLogLevel analogGyroJNILogLevel = logWARNING;
#define ANALOGGYROJNI_LOG(level) \
if (level > analogGyroJNILogLevel) \
; \
else \
Log().Get(level)
; \
else \
Log().Get(level)
extern "C" {
/*
@@ -32,17 +32,21 @@ extern "C" {
* Method: initializeAnalogGyro
* Signature: (I)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_initializeAnalogGyro(
JNIEnv* env, jclass, jint id) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_initializeAnalogGyro
(JNIEnv* env, jclass, jint id)
{
ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI initializeAnalogGyro";
ANALOGGYROJNI_LOG(logDEBUG) << "Analog Input Handle = " << (HAL_AnalogInputHandle)id;
ANALOGGYROJNI_LOG(logDEBUG)
<< "Analog Input Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
HAL_GyroHandle handle = HAL_InitializeAnalogGyro((HAL_AnalogInputHandle)id, &status);
HAL_GyroHandle handle =
HAL_InitializeAnalogGyro((HAL_AnalogInputHandle)id, &status);
ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << handle;
// Analog input does range checking, so we don't need to do so.
CheckStatusForceThrow(env, status);
return (jint) handle;
return (jint)handle;
}
/*
@@ -50,8 +54,10 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_initializeAn
* Method: setupAnalogGyro
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setupAnalogGyro(
JNIEnv* env, jclass, jint id) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setupAnalogGyro
(JNIEnv* env, jclass, jint id)
{
ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setupAnalogGyro";
ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
int32_t status = 0;
@@ -65,8 +71,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setupAnalogG
* Method: freeAnalogGyro
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_freeAnalogGyro(
JNIEnv* env, jclass, jint id) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_freeAnalogGyro
(JNIEnv* env, jclass, jint id)
{
ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI freeAnalogGyro";
ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
HAL_FreeAnalogGyro((HAL_GyroHandle)id);
@@ -77,12 +85,16 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_freeAnalogGy
* Method: setAnalogGyroParameters
* Signature: (IDDI)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyroParameters(
JNIEnv* env, jclass, jint id, jdouble vPDPS, jdouble offset, jint center) {
ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setAnalogGyroParameters";
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyroParameters
(JNIEnv* env, jclass, jint id, jdouble vPDPS, jdouble offset, jint center)
{
ANALOGGYROJNI_LOG(logDEBUG)
<< "Calling ANALOGGYROJNI setAnalogGyroParameters";
ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
int32_t status = 0;
HAL_SetAnalogGyroParameters((HAL_GyroHandle)id, vPDPS, offset, center, &status);
HAL_SetAnalogGyroParameters((HAL_GyroHandle)id, vPDPS, offset, center,
&status);
ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -92,9 +104,12 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyr
* Method: setAnalogGyroVoltsPerDegreePerSecond
* Signature: (ID)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyroVoltsPerDegreePerSecond(
JNIEnv* env, jclass, jint id, jdouble vPDPS) {
ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setAnalogGyroVoltsPerDegreePerSecond";
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyroVoltsPerDegreePerSecond
(JNIEnv* env, jclass, jint id, jdouble vPDPS)
{
ANALOGGYROJNI_LOG(logDEBUG)
<< "Calling ANALOGGYROJNI setAnalogGyroVoltsPerDegreePerSecond";
ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
ANALOGGYROJNI_LOG(logDEBUG) << "vPDPS = " << vPDPS;
int32_t status = 0;
@@ -108,8 +123,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyr
* Method: resetAnalogGyro
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_resetAnalogGyro(
JNIEnv* env, jclass, jint id) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_resetAnalogGyro
(JNIEnv* env, jclass, jint id)
{
ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI resetAnalogGyro";
ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
int32_t status = 0;
@@ -123,8 +140,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_resetAnalogG
* Method: calibrateAnalogGyro
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_calibrateAnalogGyro(
JNIEnv* env, jclass, jint id) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_calibrateAnalogGyro
(JNIEnv* env, jclass, jint id)
{
ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI calibrateAnalogGyro";
ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
int32_t status = 0;
@@ -138,8 +157,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_calibrateAna
* Method: setAnalogGyroDeadband
* Signature: (ID)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyroDeadband(
JNIEnv* env, jclass, jint id, jdouble deadband) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyroDeadband
(JNIEnv* env, jclass, jint id, jdouble deadband)
{
ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setAnalogGyroDeadband";
ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
int32_t status = 0;
@@ -153,8 +174,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyr
* Method: getAnalogGyroAngle
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroAngle(
JNIEnv* env, jclass, jint id) {
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroAngle
(JNIEnv* env, jclass, jint id)
{
ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroAngle";
ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
int32_t status = 0;
@@ -170,8 +193,10 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalog
* Method: getAnalogGyroRate
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroRate(
JNIEnv* env, jclass, jint id) {
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroRate
(JNIEnv* env, jclass, jint id)
{
ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroRate";
ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
int32_t status = 0;
@@ -187,8 +212,10 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalog
* Method: getAnalogGyroOffset
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroOffset(
JNIEnv* env, jclass, jint id) {
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroOffset
(JNIEnv* env, jclass, jint id)
{
ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroOffset";
ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
int32_t status = 0;
@@ -204,8 +231,10 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalog
* Method: getAnalogGyroCenter
* Signature: (I)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroCenter(
JNIEnv* env, jclass, jint id) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroCenter
(JNIEnv* env, jclass, jint id)
{
ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroCenter";
ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
int32_t status = 0;

298
hal/src/main/native/cpp/jni/AnalogJNI.cpp
View File

@@ -1,23 +1,23 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <assert.h>
#include <jni.h>
#include "HAL/cpp/Log.h"
#include "edu_wpi_first_wpilibj_hal_AnalogJNI.h"
#include <cassert>
#include "HAL/AnalogAccumulator.h"
#include "HAL/AnalogInput.h"
#include "HAL/AnalogOutput.h"
#include "HAL/AnalogAccumulator.h"
#include "HAL/AnalogTrigger.h"
#include "HAL/Ports.h"
#include "HALUtil.h"
#include "HAL/cpp/Log.h"
#include "HAL/handles/HandlesInternal.h"
#include "HALUtil.h"
#include "edu_wpi_first_wpilibj_hal_AnalogJNI.h"
using namespace frc;
@@ -28,7 +28,7 @@ TLogLevel analogJNILogLevel = logWARNING;
if (level > analogJNILogLevel) \
; \
else \
Log().Get(level)
Log().Get(level)
extern "C" {
@@ -38,14 +38,15 @@ extern "C" {
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogInputPort(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogInputPort
(JNIEnv* env, jclass, jint id)
{
ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
int32_t status = 0;
auto analog = HAL_InitializeAnalogInputPort((HAL_PortHandle)id, &status);
ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << analog;
CheckStatusRange(env, status, 0, HAL_GetNumAnalogInputs(),
CheckStatusRange(env, status, 0, HAL_GetNumAnalogInputs(),
hal::getPortHandleChannel((HAL_PortHandle)id));
return (jint)analog;
}
@@ -56,8 +57,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogInputPort(
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_freeAnalogInputPort(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_freeAnalogInputPort
(JNIEnv* env, jclass, jint id)
{
ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_AnalogInputHandle)id;
HAL_FreeAnalogInputPort((HAL_AnalogInputHandle)id);
}
@@ -68,14 +70,16 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_freeAnalogInputPort(
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogOutputPort(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogOutputPort
(JNIEnv* env, jclass, jint id)
{
ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
int32_t status = 0;
HAL_AnalogOutputHandle analog = HAL_InitializeAnalogOutputPort((HAL_PortHandle)id, &status);
HAL_AnalogOutputHandle analog =
HAL_InitializeAnalogOutputPort((HAL_PortHandle)id, &status);
ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << analog;
CheckStatusRange(env, status, 0, HAL_GetNumAnalogOutputs(),
CheckStatusRange(env, status, 0, HAL_GetNumAnalogOutputs(),
hal::getPortHandleChannel((HAL_PortHandle)id));
return (jlong)analog;
}
@@ -86,8 +90,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogOutputPort(
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_freeAnalogOutputPort(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_freeAnalogOutputPort
(JNIEnv* env, jclass, jint id)
{
ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << id;
HAL_FreeAnalogOutputPort((HAL_AnalogOutputHandle)id);
}
@@ -98,8 +103,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_freeAnalogOutputPort(
* Signature: (B)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogModule(
JNIEnv *, jclass, jbyte value) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogModule
(JNIEnv*, jclass, jbyte value)
{
// ANALOGJNI_LOG(logDEBUG) << "Module = " << (jint)value;
jboolean returnValue = HAL_CheckAnalogModule(value);
// ANALOGJNI_LOG(logDEBUG) << "checkAnalogModuleResult = " <<
@@ -113,8 +119,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogModule(
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogInputChannel(
JNIEnv *, jclass, jint value) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogInputChannel
(JNIEnv*, jclass, jint value)
{
// ANALOGJNI_LOG(logDEBUG) << "Channel = " << value;
jboolean returnValue = HAL_CheckAnalogInputChannel(value);
// ANALOGJNI_LOG(logDEBUG) << "checkAnalogChannelResult = " <<
@@ -128,8 +135,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogInputChannel(
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogOutputChannel(
JNIEnv *, jclass, jint value) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogOutputChannel
(JNIEnv*, jclass, jint value)
{
// ANALOGJNI_LOG(logDEBUG) << "Channel = " << value;
jboolean returnValue = HAL_CheckAnalogOutputChannel(value);
// ANALOGJNI_LOG(logDEBUG) << "checkAnalogChannelResult = " <<
@@ -142,8 +150,10 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogOutputChannel(
* Method: setAnalogOutput
* Signature: (ID)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogOutput(
JNIEnv *env, jclass, jint id, jdouble voltage) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogOutput
(JNIEnv* env, jclass, jint id, jdouble voltage)
{
ANALOGJNI_LOG(logDEBUG) << "Calling setAnalogOutput";
ANALOGJNI_LOG(logDEBUG) << "Voltage = " << voltage;
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << id;
@@ -158,8 +168,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogOutput(
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOutput(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOutput
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
double val = HAL_GetAnalogOutput((HAL_AnalogOutputHandle)id, &status);
CheckStatus(env, status);
@@ -172,8 +183,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOutput(
* Signature: (D)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogSampleRate(
JNIEnv *env, jclass, jdouble value) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogSampleRate
(JNIEnv* env, jclass, jdouble value)
{
ANALOGJNI_LOG(logDEBUG) << "SampleRate = " << value;
int32_t status = 0;
HAL_SetAnalogSampleRate(value, &status);
@@ -187,8 +199,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogSampleRate(
* Signature: ()D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogSampleRate(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogSampleRate
(JNIEnv* env, jclass)
{
int32_t status = 0;
double returnValue = HAL_GetAnalogSampleRate(&status);
ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
@@ -203,8 +216,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogSampleRate(
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogAverageBits(
JNIEnv *env, jclass, jint id, jint value) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogAverageBits
(JNIEnv* env, jclass, jint id, jint value)
{
ANALOGJNI_LOG(logDEBUG) << "AverageBits = " << value;
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
@@ -219,11 +233,13 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogAverageBits(
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageBits(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageBits
(JNIEnv* env, jclass, jint id)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
jint returnValue = HAL_GetAnalogAverageBits((HAL_AnalogInputHandle)id, &status);
jint returnValue =
HAL_GetAnalogAverageBits((HAL_AnalogInputHandle)id, &status);
ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
ANALOGJNI_LOG(logDEBUG) << "AverageBits = " << returnValue;
CheckStatus(env, status);
@@ -236,8 +252,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageBits(
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogOversampleBits(
JNIEnv *env, jclass, jint id, jint value) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogOversampleBits
(JNIEnv* env, jclass, jint id, jint value)
{
ANALOGJNI_LOG(logDEBUG) << "OversampleBits = " << value;
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
@@ -252,11 +269,13 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogOversampleBits(
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOversampleBits(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOversampleBits
(JNIEnv* env, jclass, jint id)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
jint returnValue = HAL_GetAnalogOversampleBits((HAL_AnalogInputHandle)id, &status);
jint returnValue =
HAL_GetAnalogOversampleBits((HAL_AnalogInputHandle)id, &status);
ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
ANALOGJNI_LOG(logDEBUG) << "OversampleBits = " << returnValue;
CheckStatus(env, status);
@@ -269,8 +288,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOversampleBits(
* Signature: (I)S
*/
JNIEXPORT jshort JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogValue(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogValue
(JNIEnv* env, jclass, jint id)
{
// ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (void*)id;
int32_t status = 0;
jshort returnValue = HAL_GetAnalogValue((HAL_AnalogInputHandle)id, &status);
@@ -286,11 +306,13 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogValue(
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageValue(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageValue
(JNIEnv* env, jclass, jint id)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
jint returnValue = HAL_GetAnalogAverageValue((HAL_AnalogInputHandle)id, &status);
jint returnValue =
HAL_GetAnalogAverageValue((HAL_AnalogInputHandle)id, &status);
ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
ANALOGJNI_LOG(logDEBUG) << "AverageValue = " << returnValue;
CheckStatus(env, status);
@@ -303,12 +325,14 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageValue(
* Signature: (ID)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogVoltsToValue(
JNIEnv *env, jclass, jint id, jdouble voltageValue) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogVoltsToValue
(JNIEnv* env, jclass, jint id, jdouble voltageValue)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
ANALOGJNI_LOG(logDEBUG) << "VoltageValue = " << voltageValue;
int32_t status = 0;
jint returnValue = HAL_GetAnalogVoltsToValue((HAL_AnalogInputHandle)id, voltageValue, &status);
jint returnValue = HAL_GetAnalogVoltsToValue((HAL_AnalogInputHandle)id,
voltageValue, &status);
ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
ANALOGJNI_LOG(logDEBUG) << "Value = " << returnValue;
CheckStatus(env, status);
@@ -321,11 +345,13 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogVoltsToValue(
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogVoltage(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogVoltage
(JNIEnv* env, jclass, jint id)
{
// ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (void*)id;
int32_t status = 0;
jdouble returnValue = HAL_GetAnalogVoltage((HAL_AnalogInputHandle)id, &status);
jdouble returnValue =
HAL_GetAnalogVoltage((HAL_AnalogInputHandle)id, &status);
// ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
// ANALOGJNI_LOG(logDEBUG) << "Voltage = " << returnValue;
CheckStatus(env, status);
@@ -338,11 +364,13 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogVoltage(
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageVoltage(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageVoltage
(JNIEnv* env, jclass, jint id)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
jdouble returnValue = HAL_GetAnalogAverageVoltage((HAL_AnalogInputHandle)id, &status);
jdouble returnValue =
HAL_GetAnalogAverageVoltage((HAL_AnalogInputHandle)id, &status);
ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
ANALOGJNI_LOG(logDEBUG) << "AverageVoltage = " << returnValue;
CheckStatus(env, status);
@@ -355,8 +383,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageVoltage(
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogLSBWeight(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogLSBWeight
(JNIEnv* env, jclass, jint id)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
@@ -372,8 +401,10 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogLSBWeight(
* Method: getAnalogOffset
* Signature: (I)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOffset(
JNIEnv *env, jclass, jint id) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOffset
(JNIEnv* env, jclass, jint id)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
@@ -390,13 +421,15 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOffset(
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_isAccumulatorChannel(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_isAccumulatorChannel
(JNIEnv* env, jclass, jint id)
{
ANALOGJNI_LOG(logDEBUG) << "isAccumulatorChannel";
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
jboolean returnValue = HAL_IsAccumulatorChannel((HAL_AnalogInputHandle)id, &status);
jboolean returnValue =
HAL_IsAccumulatorChannel((HAL_AnalogInputHandle)id, &status);
ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
ANALOGJNI_LOG(logDEBUG) << "AnalogOffset = " << returnValue;
CheckStatus(env, status);
@@ -408,8 +441,10 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_isAccumulatorChannel(
* Method: initAccumulator
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initAccumulator(
JNIEnv *env, jclass, jint id) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initAccumulator
(JNIEnv* env, jclass, jint id)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
HAL_InitAccumulator((HAL_AnalogInputHandle)id, &status);
@@ -423,8 +458,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initAccumulator(
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_resetAccumulator(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_resetAccumulator
(JNIEnv* env, jclass, jint id)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
HAL_ResetAccumulator((HAL_AnalogInputHandle)id, &status);
@@ -438,8 +474,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_resetAccumulator(
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorCenter(
JNIEnv *env, jclass, jint id, jint center) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorCenter
(JNIEnv* env, jclass, jint id, jint center)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
HAL_SetAccumulatorCenter((HAL_AnalogInputHandle)id, center, &status);
@@ -453,8 +490,9 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorCenter(
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorDeadband(
JNIEnv *env, jclass, jint id, jint deadband) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorDeadband
(JNIEnv* env, jclass, jint id, jint deadband)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
HAL_SetAccumulatorDeadband((HAL_AnalogInputHandle)id, deadband, &status);
@@ -468,11 +506,13 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorDeadband(
* Signature: (I)J
*/
JNIEXPORT jlong JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorValue(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorValue
(JNIEnv* env, jclass, jint id)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
jlong returnValue = HAL_GetAccumulatorValue((HAL_AnalogInputHandle)id, &status);
jlong returnValue =
HAL_GetAccumulatorValue((HAL_AnalogInputHandle)id, &status);
ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
ANALOGJNI_LOG(logDEBUG) << "AccumulatorValue = " << returnValue;
CheckStatus(env, status);
@@ -486,11 +526,13 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorValue(
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorCount(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorCount
(JNIEnv* env, jclass, jint id)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
jint returnValue = HAL_GetAccumulatorCount((HAL_AnalogInputHandle)id, &status);
jint returnValue =
HAL_GetAccumulatorCount((HAL_AnalogInputHandle)id, &status);
ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
ANALOGJNI_LOG(logDEBUG) << "AccumulatorCount = " << returnValue;
CheckStatus(env, status);
@@ -500,11 +542,12 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorCount(
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAccumulatorOutput
* Signature: (ILedu/wpi/first/wpilibj/AccumulatorResult;)V
* Signature: (ILjava/lang/Object;)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorOutput(
JNIEnv *env, jclass, jint id, jobject accumulatorResult) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorOutput
(JNIEnv* env, jclass, jint id, jobject accumulatorResult)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
int64_t value = 0;
@@ -520,17 +563,20 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorOutput(
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: initializeAnalogTrigger
* Signature: (ILjava/nio/IntBuffer;)J
* Signature: (ILjava/lang/Object;)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogTrigger(
JNIEnv *env, jclass, jint id, jobject index) {
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogTrigger
(JNIEnv* env, jclass, jint id, jobject index)
{
ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_AnalogInputHandle)id;
jint *indexHandle = (jint *)env->GetDirectBufferAddress(index);
jint* indexHandle =
reinterpret_cast<jint*>(env->GetDirectBufferAddress(index));
ANALOGJNI_LOG(logDEBUG) << "Index Ptr = " << indexHandle;
int32_t status = 0;
HAL_AnalogTriggerHandle analogTrigger =
HAL_InitializeAnalogTrigger((HAL_AnalogInputHandle)id, (int32_t *)indexHandle, &status);
HAL_AnalogTriggerHandle analogTrigger = HAL_InitializeAnalogTrigger(
(HAL_AnalogInputHandle)id, reinterpret_cast<int32_t*>(indexHandle),
&status);
ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
ANALOGJNI_LOG(logDEBUG) << "AnalogTrigger Handle = " << analogTrigger;
CheckStatus(env, status);
@@ -543,9 +589,11 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogTrigger(
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_cleanAnalogTrigger(
JNIEnv *env, jclass,jint id) {
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id;
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_cleanAnalogTrigger
(JNIEnv* env, jclass, jint id)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = "
<< (HAL_AnalogTriggerHandle)id;
int32_t status = 0;
HAL_CleanAnalogTrigger((HAL_AnalogTriggerHandle)id, &status);
CheckStatus(env, status);
@@ -557,11 +605,14 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_cleanAnalogTrigger(
* Signature: (III)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerLimitsRaw(
JNIEnv *env, jclass,jint id, jint lower, jint upper) {
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id;
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerLimitsRaw
(JNIEnv* env, jclass, jint id, jint lower, jint upper)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = "
<< (HAL_AnalogTriggerHandle)id;
int32_t status = 0;
HAL_SetAnalogTriggerLimitsRaw((HAL_AnalogTriggerHandle)id, lower, upper, &status);
HAL_SetAnalogTriggerLimitsRaw((HAL_AnalogTriggerHandle)id, lower, upper,
&status);
CheckStatus(env, status);
}
@@ -571,11 +622,14 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerLimitsRaw(
* Signature: (IDD)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerLimitsVoltage(
JNIEnv *env, jclass,jint id, jdouble lower, jdouble upper) {
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id;
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerLimitsVoltage
(JNIEnv* env, jclass, jint id, jdouble lower, jdouble upper)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = "
<< (HAL_AnalogTriggerHandle)id;
int32_t status = 0;
HAL_SetAnalogTriggerLimitsVoltage((HAL_AnalogTriggerHandle)id, lower, upper, &status);
HAL_SetAnalogTriggerLimitsVoltage((HAL_AnalogTriggerHandle)id, lower, upper,
&status);
CheckStatus(env, status);
}
@@ -585,9 +639,11 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerLimitsVoltage(
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerAveraged(
JNIEnv *env, jclass,jint id, jboolean averaged) {
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id;
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerAveraged
(JNIEnv* env, jclass, jint id, jboolean averaged)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = "
<< (HAL_AnalogTriggerHandle)id;
int32_t status = 0;
HAL_SetAnalogTriggerAveraged((HAL_AnalogTriggerHandle)id, averaged, &status);
CheckStatus(env, status);
@@ -599,9 +655,11 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerAveraged(
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerFiltered(
JNIEnv *env, jclass,jint id, jboolean filtered) {
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id;
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerFiltered
(JNIEnv* env, jclass, jint id, jboolean filtered)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = "
<< (HAL_AnalogTriggerHandle)id;
int32_t status = 0;
HAL_SetAnalogTriggerFiltered((HAL_AnalogTriggerHandle)id, filtered, &status);
CheckStatus(env, status);
@@ -613,11 +671,14 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerFiltered(
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerInWindow(
JNIEnv *env, jclass,jint id) {
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id;
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerInWindow
(JNIEnv* env, jclass, jint id)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = "
<< (HAL_AnalogTriggerHandle)id;
int32_t status = 0;
jboolean val = HAL_GetAnalogTriggerInWindow((HAL_AnalogTriggerHandle)id, &status);
jboolean val =
HAL_GetAnalogTriggerInWindow((HAL_AnalogTriggerHandle)id, &status);
CheckStatus(env, status);
return val;
}
@@ -628,11 +689,14 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerInWindow(
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerTriggerState(
JNIEnv *env, jclass,jint id) {
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id;
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerTriggerState
(JNIEnv* env, jclass, jint id)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = "
<< (HAL_AnalogTriggerHandle)id;
int32_t status = 0;
jboolean val = HAL_GetAnalogTriggerTriggerState((HAL_AnalogTriggerHandle)id, &status);
jboolean val =
HAL_GetAnalogTriggerTriggerState((HAL_AnalogTriggerHandle)id, &status);
CheckStatus(env, status);
return val;
}
@@ -643,12 +707,14 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerTriggerState(
* Signature: (II)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerOutput(
JNIEnv *env, jclass,jint id, jint type) {
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id;
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerOutput
(JNIEnv* env, jclass, jint id, jint type)
{
ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = "
<< (HAL_AnalogTriggerHandle)id;
int32_t status = 0;
jboolean val =
HAL_GetAnalogTriggerOutput((HAL_AnalogTriggerHandle)id, (HAL_AnalogTriggerType)type, &status);
jboolean val = HAL_GetAnalogTriggerOutput(
(HAL_AnalogTriggerHandle)id, (HAL_AnalogTriggerType)type, &status);
CheckStatus(env, status);
return val;
}

69
hal/src/main/native/cpp/jni/CANJNI.cpp
View File

@@ -1,20 +1,22 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <assert.h>
#include <jni.h>
#include "HAL/cpp/Log.h"
#include <cassert>
#include <wpi/SmallString.h>
#include <wpi/jni_util.h>
#include <wpi/raw_ostream.h>
#include "HAL/CAN.h"
#include "HAL/cpp/Log.h"
#include "HALUtil.h"
#include "edu_wpi_first_wpilibj_can_CANJNI.h"
#include "wpi/SmallString.h"
#include "wpi/jni_util.h"
#include "wpi/raw_ostream.h"
using namespace frc;
using namespace wpi::java;
@@ -27,7 +29,7 @@ TLogLevel canJNILogLevel = logERROR;
if (level > canJNILogLevel) \
; \
else \
Log().Get(level)
Log().Get(level)
extern "C" {
@@ -37,15 +39,15 @@ extern "C" {
* Signature: (I[BI)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxSendMessage(
JNIEnv *env, jclass, jint messageID, jbyteArray data, jint periodMs) {
CANJNI_LOG(logDEBUG)
<< "Calling CANJNI FRCNetCommCANSessionMuxSendMessage";
Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxSendMessage
(JNIEnv* env, jclass, jint messageID, jbyteArray data, jint periodMs)
{
CANJNI_LOG(logDEBUG) << "Calling CANJNI FRCNetCommCANSessionMuxSendMessage";
JByteArrayRef dataArray{env, data};
const uint8_t *dataBuffer = reinterpret_cast<const uint8_t*>(dataArray.array().data());
const uint8_t* dataBuffer =
reinterpret_cast<const uint8_t*>(dataArray.array().data());
uint8_t dataSize = dataArray.array().size();
CANJNI_LOG(logDEBUG) << "Message ID ";
@@ -68,8 +70,7 @@ Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxSendMessage(
CANJNI_LOG(logDEBUG) << "Period: " << periodMs;
int32_t status = 0;
HAL_CAN_SendMessage(
messageID, dataBuffer, dataSize, periodMs, &status);
HAL_CAN_SendMessage(messageID, dataBuffer, dataSize, periodMs, &status);
CANJNI_LOG(logDEBUG) << "Status: " << status;
CheckCANStatus(env, status, messageID);
@@ -78,25 +79,27 @@ Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxSendMessage(
/*
* Class: edu_wpi_first_wpilibj_can_CANJNI
* Method: FRCNetCommCANSessionMuxReceiveMessage
* Signature: (Ljava/nio/IntBuffer;ILjava/nio/ByteBuffer;)[B
* Signature: (Ljava/lang/Object;ILjava/lang/Object;)[B
*/
JNIEXPORT jbyteArray JNICALL
Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage(
JNIEnv *env, jclass, jobject messageID, jint messageIDMask,
jobject timeStamp) {
Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage
(JNIEnv* env, jclass, jobject messageID, jint messageIDMask,
jobject timeStamp)
{
CANJNI_LOG(logDEBUG)
<< "Calling CANJNI FRCNetCommCANSessionMuxReceiveMessage";
uint32_t *messageIDPtr = (uint32_t *)env->GetDirectBufferAddress(messageID);
uint32_t *timeStampPtr = (uint32_t *)env->GetDirectBufferAddress(timeStamp);
uint32_t* messageIDPtr =
reinterpret_cast<uint32_t*>(env->GetDirectBufferAddress(messageID));
uint32_t* timeStampPtr =
reinterpret_cast<uint32_t*>(env->GetDirectBufferAddress(timeStamp));
uint8_t dataSize = 0;
uint8_t buffer[8];
int32_t status = 0;
HAL_CAN_ReceiveMessage(
messageIDPtr, messageIDMask, buffer, &dataSize, timeStampPtr, &status);
HAL_CAN_ReceiveMessage(messageIDPtr, messageIDMask, buffer, &dataSize,
timeStampPtr, &status);
CANJNI_LOG(logDEBUG) << "Message ID ";
CANJNI_LOG(logDEBUG).write_hex(*messageIDPtr);
@@ -121,19 +124,21 @@ Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage(
CANJNI_LOG(logDEBUG) << "Status: " << status;
if (!CheckCANStatus(env, status, *messageIDPtr)) return nullptr;
return MakeJByteArray(env, wpi::StringRef{reinterpret_cast<const char*>(buffer),
static_cast<size_t>(dataSize)});
return MakeJByteArray(env,
wpi::StringRef{reinterpret_cast<const char*>(buffer),
static_cast<size_t>(dataSize)});
}
/*
* Class: edu_wpi_first_wpilibj_can_CANJNI
* Method: GetCANStatus
* Signature: (Ledu/wpi/first/wpilibj/can/CANStatus;)V
* Signature: (Ljava/lang/Object;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_GetCANStatus
(JNIEnv *env, jclass, jobject canStatus) {
CANJNI_LOG(logDEBUG)
<< "Calling CANJNI HAL_CAN_GetCANStatus";
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_can_CANJNI_GetCANStatus
(JNIEnv* env, jclass, jobject canStatus)
{
CANJNI_LOG(logDEBUG) << "Calling CANJNI HAL_CAN_GetCANStatus";
float percentBusUtilization = 0;
uint32_t busOffCount = 0;
@@ -143,7 +148,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_GetCANStatus
int32_t status = 0;
HAL_CAN_GetCANStatus(&percentBusUtilization, &busOffCount, &txFullCount,
&receiveErrorCount, &transmitErrorCount, &status);
if (!CheckStatus(env, status)) return;
SetCanStatusObject(env, canStatus, percentBusUtilization, busOffCount,

133
hal/src/main/native/cpp/jni/CompressorJNI.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,8 +8,8 @@
#include "HAL/Compressor.h"
#include "HAL/Ports.h"
#include "HAL/Solenoid.h"
#include "HALUtil.h"
#include "HAL/cpp/Log.h"
#include "HALUtil.h"
#include "edu_wpi_first_wpilibj_hal_CompressorJNI.h"
using namespace frc;
@@ -22,12 +22,13 @@ extern "C" {
* Signature: (B)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_initializeCompressor(
JNIEnv *env, jclass, jbyte module) {
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_initializeCompressor
(JNIEnv* env, jclass, jbyte module)
{
int32_t status = 0;
auto handle = HAL_InitializeCompressor(module, &status);
CheckStatusRange(env, status, 0, HAL_GetNumPCMModules(), module);
return (jint)handle;
}
@@ -37,19 +38,21 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_initializeCompressor(
* Signature: (B)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_checkCompressorModule(
JNIEnv *env, jclass, jbyte module) {
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_checkCompressorModule
(JNIEnv* env, jclass, jbyte module)
{
return HAL_CheckCompressorModule(module);
}
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getCompressor
* Signature: (J)Z
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressor(
JNIEnv *env, jclass, jint compressorHandle) {
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressor
(JNIEnv* env, jclass, jint compressorHandle)
{
int32_t status = 0;
bool val = HAL_GetCompressor((HAL_CompressorHandle)compressorHandle, &status);
CheckStatus(env, status);
@@ -59,26 +62,30 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressor(
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: setCompressorClosedLoopControl
* Signature: (JZ)V
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_setCompressorClosedLoopControl(
JNIEnv *env, jclass, jint compressorHandle, jboolean value) {
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_setCompressorClosedLoopControl
(JNIEnv* env, jclass, jint compressorHandle, jboolean value)
{
int32_t status = 0;
HAL_SetCompressorClosedLoopControl((HAL_CompressorHandle)compressorHandle, value, &status);
HAL_SetCompressorClosedLoopControl((HAL_CompressorHandle)compressorHandle,
value, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getCompressorClosedLoopControl
* Signature: (J)Z
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorClosedLoopControl(
JNIEnv *env, jclass, jint compressorHandle) {
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorClosedLoopControl
(JNIEnv* env, jclass, jint compressorHandle)
{
int32_t status = 0;
bool val = HAL_GetCompressorClosedLoopControl((HAL_CompressorHandle)compressorHandle, &status);
bool val = HAL_GetCompressorClosedLoopControl(
(HAL_CompressorHandle)compressorHandle, &status);
CheckStatus(env, status);
return val;
}
@@ -86,13 +93,15 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorClosedLoopControl(
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getCompressorPressureSwitch
* Signature: (J)Z
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorPressureSwitch(
JNIEnv *env, jclass, jint compressorHandle) {
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorPressureSwitch
(JNIEnv* env, jclass, jint compressorHandle)
{
int32_t status = 0;
bool val = HAL_GetCompressorPressureSwitch((HAL_CompressorHandle)compressorHandle, &status);
bool val = HAL_GetCompressorPressureSwitch(
(HAL_CompressorHandle)compressorHandle, &status);
CheckStatus(env, status);
return val;
}
@@ -100,13 +109,15 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorPressureSwitch(
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getCompressorCurrent
* Signature: (J)D
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrent(
JNIEnv *env, jclass, jint compressorHandle) {
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrent
(JNIEnv* env, jclass, jint compressorHandle)
{
int32_t status = 0;
double val = HAL_GetCompressorCurrent((HAL_CompressorHandle)compressorHandle, &status);
double val =
HAL_GetCompressorCurrent((HAL_CompressorHandle)compressorHandle, &status);
CheckStatus(env, status);
return val;
}
@@ -114,13 +125,15 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrent(
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getCompressorCurrentTooHighFault
* Signature: (J)Z
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrentTooHighFault(
JNIEnv *env, jclass, jint compressorHandle) {
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrentTooHighFault
(JNIEnv* env, jclass, jint compressorHandle)
{
int32_t status = 0;
bool val = HAL_GetCompressorCurrentTooHighFault((HAL_CompressorHandle)compressorHandle, &status);
bool val = HAL_GetCompressorCurrentTooHighFault(
(HAL_CompressorHandle)compressorHandle, &status);
CheckStatus(env, status);
return val;
}
@@ -128,14 +141,15 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrentTooHighFault(
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getCompressorCurrentTooHighStickyFault
* Signature: (J)Z
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrentTooHighStickyFault(
JNIEnv *env, jclass, jint compressorHandle) {
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrentTooHighStickyFault
(JNIEnv* env, jclass, jint compressorHandle)
{
int32_t status = 0;
bool val =
HAL_GetCompressorCurrentTooHighStickyFault((HAL_CompressorHandle)compressorHandle, &status);
bool val = HAL_GetCompressorCurrentTooHighStickyFault(
(HAL_CompressorHandle)compressorHandle, &status);
CheckStatus(env, status);
return val;
}
@@ -143,13 +157,15 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrentTooHighStickyFa
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getCompressorShortedStickyFault
* Signature: (J)Z
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorShortedStickyFault(
JNIEnv *env, jclass, jint compressorHandle) {
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorShortedStickyFault
(JNIEnv* env, jclass, jint compressorHandle)
{
int32_t status = 0;
bool val = HAL_GetCompressorShortedStickyFault((HAL_CompressorHandle)compressorHandle, &status);
bool val = HAL_GetCompressorShortedStickyFault(
(HAL_CompressorHandle)compressorHandle, &status);
CheckStatus(env, status);
return val;
}
@@ -157,13 +173,15 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorShortedStickyFault(
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getCompressorShortedFault
* Signature: (J)Z
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorShortedFault(
JNIEnv *env, jclass, jint compressorHandle) {
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorShortedFault
(JNIEnv* env, jclass, jint compressorHandle)
{
int32_t status = 0;
bool val = HAL_GetCompressorShortedFault((HAL_CompressorHandle)compressorHandle, &status);
bool val = HAL_GetCompressorShortedFault(
(HAL_CompressorHandle)compressorHandle, &status);
CheckStatus(env, status);
return val;
}
@@ -171,13 +189,15 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorShortedFault(
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getCompressorNotConnectedStickyFault
* Signature: (J)Z
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorNotConnectedStickyFault(
JNIEnv *env, jclass, jint compressorHandle) {
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorNotConnectedStickyFault
(JNIEnv* env, jclass, jint compressorHandle)
{
int32_t status = 0;
bool val = HAL_GetCompressorNotConnectedStickyFault((HAL_CompressorHandle)compressorHandle, &status);
bool val = HAL_GetCompressorNotConnectedStickyFault(
(HAL_CompressorHandle)compressorHandle, &status);
CheckStatus(env, status);
return val;
}
@@ -185,26 +205,29 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorNotConnectedStickyFaul
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: getCompressorNotConnectedFault
* Signature: (J)Z
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorNotConnectedFault(
JNIEnv *env, jclass, jint compressorHandle) {
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorNotConnectedFault
(JNIEnv* env, jclass, jint compressorHandle)
{
int32_t status = 0;
bool val = HAL_GetCompressorNotConnectedFault((HAL_CompressorHandle)compressorHandle, &status);
bool val = HAL_GetCompressorNotConnectedFault(
(HAL_CompressorHandle)compressorHandle, &status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
* Method: clearAllPCMStickyFaults
* Signature: (J)V
* Signature: (B)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_clearAllPCMStickyFaults(
JNIEnv *env, jclass, jbyte module) {
Java_edu_wpi_first_wpilibj_hal_CompressorJNI_clearAllPCMStickyFaults
(JNIEnv* env, jclass, jbyte module)
{
int32_t status = 0;
HAL_ClearAllPCMStickyFaults((uint8_t)module, &status);
HAL_ClearAllPCMStickyFaults(static_cast<int32_t>(module), &status);
CheckStatus(env, status);
}

24
hal/src/main/native/cpp/jni/ConstantsJNI.cpp
View File

@@ -1,18 +1,18 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <assert.h>
#include <jni.h>
#include "HAL/cpp/Log.h"
#include "edu_wpi_first_wpilibj_hal_ConstantsJNI.h"
#include <cassert>
#include "HAL/Constants.h"
#include "HAL/cpp/Log.h"
#include "HALUtil.h"
#include "edu_wpi_first_wpilibj_hal_ConstantsJNI.h"
using namespace frc;
@@ -21,9 +21,9 @@ TLogLevel constantsJNILogLevel = logWARNING;
#define CONSTANTSJNI_LOG(level) \
if (level > constantsJNILogLevel) \
; \
else \
Log().Get(level)
; \
else \
Log().Get(level)
extern "C" {
/*
@@ -32,11 +32,13 @@ extern "C" {
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_ConstantsJNI_getSystemClockTicksPerMicrosecond(
JNIEnv *env, jclass) {
CONSTANTSJNI_LOG(logDEBUG) << "Calling ConstantsJNI getSystemClockTicksPerMicrosecond";
Java_edu_wpi_first_wpilibj_hal_ConstantsJNI_getSystemClockTicksPerMicrosecond
(JNIEnv* env, jclass)
{
CONSTANTSJNI_LOG(logDEBUG)
<< "Calling ConstantsJNI getSystemClockTicksPerMicrosecond";
jint value = HAL_GetSystemClockTicksPerMicrosecond();
CONSTANTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
}
} // extern "C"

165
hal/src/main/native/cpp/jni/CounterJNI.cpp
View File

@@ -1,19 +1,19 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <assert.h>
#include <jni.h>
#include "HAL/cpp/Log.h"
#include "edu_wpi_first_wpilibj_hal_CounterJNI.h"
#include <cassert>
#include "HAL/Counter.h"
#include "HAL/Errors.h"
#include "HAL/cpp/Log.h"
#include "HALUtil.h"
#include "edu_wpi_first_wpilibj_hal_CounterJNI.h"
using namespace frc;
@@ -24,24 +24,27 @@ TLogLevel counterJNILogLevel = logWARNING;
if (level > counterJNILogLevel) \
; \
else \
Log().Get(level)
Log().Get(level)
extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: initializeCounter
* Signature: (ILjava/nio/IntBuffer;)I
* Signature: (ILjava/lang/Object;)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_initializeCounter(
JNIEnv* env, jclass, jint mode, jobject index) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_initializeCounter
(JNIEnv* env, jclass, jint mode, jobject index)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI initializeCounter";
COUNTERJNI_LOG(logDEBUG) << "Mode = " << mode;
jint* indexPtr = (jint*)env->GetDirectBufferAddress(index);
COUNTERJNI_LOG(logDEBUG) << "Index Ptr = " << (int32_t*)indexPtr;
jint* indexPtr = reinterpret_cast<jint*>(env->GetDirectBufferAddress(index));
COUNTERJNI_LOG(logDEBUG) << "Index Ptr = "
<< reinterpret_cast<int32_t*>(indexPtr);
int32_t status = 0;
auto counter = HAL_InitializeCounter((HAL_Counter_Mode)mode, (int32_t*)indexPtr, &status);
auto counter = HAL_InitializeCounter(
(HAL_Counter_Mode)mode, reinterpret_cast<int32_t*>(indexPtr), &status);
COUNTERJNI_LOG(logDEBUG) << "Index = " << *indexPtr;
COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
COUNTERJNI_LOG(logDEBUG) << "COUNTER Handle = " << counter;
@@ -54,8 +57,10 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_initializeCounter(
* Method: freeCounter
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_freeCounter(
JNIEnv* env, jclass, jint id) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_freeCounter
(JNIEnv* env, jclass, jint id)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI freeCounter";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
@@ -70,8 +75,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_freeCounter(
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterAverageSize(
JNIEnv* env, jclass, jint id, jint value) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterAverageSize
(JNIEnv* env, jclass, jint id, jint value)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterAverageSize";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
COUNTERJNI_LOG(logDEBUG) << "AverageSize = " << value;
@@ -87,16 +93,17 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterAverageSize(
* Signature: (III)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpSource(
JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
jint analogTriggerType) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpSource
(JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
jint analogTriggerType)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpSource";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
COUNTERJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle;
COUNTERJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType;
int32_t status = 0;
HAL_SetCounterUpSource((HAL_CounterHandle)id, (HAL_Handle)digitalSourceHandle,
(HAL_AnalogTriggerType)analogTriggerType, &status);
HAL_SetCounterUpSource((HAL_CounterHandle)id, (HAL_Handle)digitalSourceHandle,
(HAL_AnalogTriggerType)analogTriggerType, &status);
COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -107,14 +114,16 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpSource(
* Signature: (IZZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpSourceEdge(
JNIEnv* env, jclass, jint id, jboolean valueRise, jboolean valueFall) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpSourceEdge
(JNIEnv* env, jclass, jint id, jboolean valueRise, jboolean valueFall)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpSourceEdge";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
COUNTERJNI_LOG(logDEBUG) << "Rise = " << (jint)valueRise;
COUNTERJNI_LOG(logDEBUG) << "Fall = " << (jint)valueFall;
int32_t status = 0;
HAL_SetCounterUpSourceEdge((HAL_CounterHandle)id, valueRise, valueFall, &status);
HAL_SetCounterUpSourceEdge((HAL_CounterHandle)id, valueRise, valueFall,
&status);
COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -125,8 +134,9 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpSourceEdge(
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_clearCounterUpSource(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_clearCounterUpSource
(JNIEnv* env, jclass, jint id)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI clearCounterUpSource";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
@@ -138,19 +148,21 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_clearCounterUpSource(
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: setCounterDownSource
* Signature: (IIZ)V
* Signature: (III)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterDownSource(
JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
jint analogTriggerType) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterDownSource
(JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
jint analogTriggerType)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterDownSource";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
COUNTERJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle;
COUNTERJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType;
int32_t status = 0;
HAL_SetCounterDownSource((HAL_CounterHandle)id, (HAL_Handle)digitalSourceHandle,
(HAL_AnalogTriggerType)analogTriggerType, &status);
HAL_SetCounterDownSource((HAL_CounterHandle)id,
(HAL_Handle)digitalSourceHandle,
(HAL_AnalogTriggerType)analogTriggerType, &status);
COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
if (status == PARAMETER_OUT_OF_RANGE) {
ThrowIllegalArgumentException(env,
@@ -167,14 +179,16 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterDownSource(
* Signature: (IZZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterDownSourceEdge(
JNIEnv* env, jclass, jint id, jboolean valueRise, jboolean valueFall) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterDownSourceEdge
(JNIEnv* env, jclass, jint id, jboolean valueRise, jboolean valueFall)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterDownSourceEdge";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
COUNTERJNI_LOG(logDEBUG) << "Rise = " << (jint)valueRise;
COUNTERJNI_LOG(logDEBUG) << "Fall = " << (jint)valueFall;
int32_t status = 0;
HAL_SetCounterDownSourceEdge((HAL_CounterHandle)id, valueRise, valueFall, &status);
HAL_SetCounterDownSourceEdge((HAL_CounterHandle)id, valueRise, valueFall,
&status);
COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -185,8 +199,9 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterDownSourceEdge(
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_clearCounterDownSource(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_clearCounterDownSource
(JNIEnv* env, jclass, jint id)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI clearCounterDownSource";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
@@ -201,8 +216,9 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_clearCounterDownSource(
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpDownMode(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpDownMode
(JNIEnv* env, jclass, jint id)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpDownMode";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
@@ -217,8 +233,9 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpDownMode(
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterExternalDirectionMode(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterExternalDirectionMode
(JNIEnv* env, jclass, jint id)
{
COUNTERJNI_LOG(logDEBUG)
<< "Calling COUNTERJNI setCounterExternalDirectionMode";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
@@ -234,8 +251,9 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterExternalDirectionMode(
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterSemiPeriodMode(
JNIEnv* env, jclass, jint id, jboolean value) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterSemiPeriodMode
(JNIEnv* env, jclass, jint id, jboolean value)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterSemiPeriodMode";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
COUNTERJNI_LOG(logDEBUG) << "SemiPeriodMode = " << (jint)value;
@@ -251,8 +269,9 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterSemiPeriodMode(
* Signature: (ID)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterPulseLengthMode(
JNIEnv* env, jclass, jint id, jdouble value) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterPulseLengthMode
(JNIEnv* env, jclass, jint id, jdouble value)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterPulseLengthMode";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
COUNTERJNI_LOG(logDEBUG) << "PulseLengthMode = " << value;
@@ -268,12 +287,14 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterPulseLengthMode(
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterSamplesToAverage(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterSamplesToAverage
(JNIEnv* env, jclass, jint id)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterSamplesToAverage";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
jint returnValue = HAL_GetCounterSamplesToAverage((HAL_CounterHandle)id, &status);
jint returnValue =
HAL_GetCounterSamplesToAverage((HAL_CounterHandle)id, &status);
COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
COUNTERJNI_LOG(logDEBUG) << "getCounterSamplesToAverageResult = "
<< returnValue;
@@ -287,8 +308,9 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterSamplesToAverage(
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterSamplesToAverage(
JNIEnv* env, jclass, jint id, jint value) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterSamplesToAverage
(JNIEnv* env, jclass, jint id, jint value)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterSamplesToAverage";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
COUNTERJNI_LOG(logDEBUG) << "SamplesToAverage = " << value;
@@ -307,8 +329,10 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterSamplesToAverage(
* Method: resetCounter
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_resetCounter(
JNIEnv* env, jclass, jint id) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_resetCounter
(JNIEnv* env, jclass, jint id)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI resetCounter";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
@@ -322,8 +346,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_resetCounter(
* Method: getCounter
* Signature: (I)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounter(
JNIEnv* env, jclass, jint id) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounter
(JNIEnv* env, jclass, jint id)
{
// COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounter";
// COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
@@ -340,8 +366,9 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounter(
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterPeriod(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterPeriod
(JNIEnv* env, jclass, jint id)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterPeriod";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
@@ -358,8 +385,9 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterPeriod(
* Signature: (ID)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterMaxPeriod(
JNIEnv* env, jclass, jint id, jdouble value) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterMaxPeriod
(JNIEnv* env, jclass, jint id, jdouble value)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterMaxPeriod";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
COUNTERJNI_LOG(logDEBUG) << "MaxPeriod = " << value;
@@ -375,8 +403,9 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterMaxPeriod(
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpdateWhenEmpty(
JNIEnv* env, jclass, jint id, jboolean value) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpdateWhenEmpty
(JNIEnv* env, jclass, jint id, jboolean value)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterMaxPeriod";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
COUNTERJNI_LOG(logDEBUG) << "UpdateWhenEmpty = " << (jint)value;
@@ -392,8 +421,9 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpdateWhenEmpty(
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterStopped(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterStopped
(JNIEnv* env, jclass, jint id)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterStopped";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
@@ -410,12 +440,14 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterStopped(
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterDirection(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterDirection
(JNIEnv* env, jclass, jint id)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterDirection";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
jboolean returnValue = HAL_GetCounterDirection((HAL_CounterHandle)id, &status);
jboolean returnValue =
HAL_GetCounterDirection((HAL_CounterHandle)id, &status);
COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
COUNTERJNI_LOG(logDEBUG) << "getCounterDirectionResult = "
<< (jint)returnValue;
@@ -429,8 +461,9 @@ Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterDirection(
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterReverseDirection(
JNIEnv* env, jclass, jint id, jboolean value) {
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterReverseDirection
(JNIEnv* env, jclass, jint id, jboolean value)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterReverseDirection";
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
COUNTERJNI_LOG(logDEBUG) << "ReverseDirection = " << (jint)value;

118
hal/src/main/native/cpp/jni/DIOJNI.cpp
View File

@@ -1,21 +1,21 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <assert.h>
#include <jni.h>
#include "HAL/cpp/Log.h"
#include "edu_wpi_first_wpilibj_hal_DIOJNI.h"
#include <cassert>
#include "HAL/DIO.h"
#include "HAL/PWM.h"
#include "HALUtil.h"
#include "HAL/Ports.h"
#include "HAL/cpp/Log.h"
#include "HAL/handles/HandlesInternal.h"
#include "HALUtil.h"
#include "edu_wpi_first_wpilibj_hal_DIOJNI.h"
using namespace frc;
@@ -26,23 +26,25 @@ TLogLevel dioJNILogLevel = logWARNING;
if (level > dioJNILogLevel) \
; \
else \
Log().Get(level)
Log().Get(level)
extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: initializeDIOPort
* Signature: (IZ)I;
* Signature: (IZ)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDIOPort(
JNIEnv *env, jclass, jint id, jboolean input) {
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 = " << (HAL_PortHandle)id;
DIOJNI_LOG(logDEBUG) << "Input = " << (jint)input;
int32_t status = 0;
auto dio = HAL_InitializeDIOPort((HAL_PortHandle)id, (uint8_t)input, &status);
auto dio = HAL_InitializeDIOPort((HAL_PortHandle)id,
static_cast<uint8_t>(input), &status);
DIOJNI_LOG(logDEBUG) << "Status = " << status;
DIOJNI_LOG(logDEBUG) << "DIO Handle = " << dio;
CheckStatusRange(env, status, 0, HAL_GetNumDigitalChannels(),
@@ -53,10 +55,12 @@ Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDIOPort(
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: checkDIOChannel
* Signature: (I)Z;
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_checkDIOChannel(
JNIEnv *env, jclass, jint channel) {
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_checkDIOChannel
(JNIEnv* env, jclass, jint channel)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI checkDIOChannel";
DIOJNI_LOG(logDEBUG) << "Channel = " << channel;
return HAL_CheckDIOChannel(channel);
@@ -65,10 +69,12 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_checkDIOChannel
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: freeDIOPort
* Signature: (I)V;
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDIOPort(
JNIEnv *env, jclass, jint id) {
* Signature: (I)V
*/
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 = " << (HAL_DigitalHandle)id;
HAL_FreeDIOPort((HAL_DigitalHandle)id);
@@ -79,8 +85,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDIOPort(
* Method: setDIO
* Signature: (IS)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIO(
JNIEnv *env, jclass, jint id, jshort value) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIO
(JNIEnv* env, jclass, jint id, jshort value)
{
// DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDIO";
// DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
// DIOJNI_LOG(logDEBUG) << "Value = " << value;
@@ -95,8 +103,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIO(
* Method: setDIODirection
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIODirection(
JNIEnv *env, jclass, jint id, jboolean input) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIODirection
(JNIEnv* env, jclass, jint id, jboolean input)
{
// DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDIO";
// DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
// DIOJNI_LOG(logDEBUG) << "IsInput = " << input;
@@ -109,10 +119,12 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIODirection(
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: getDIO
* Signature: (J)Z
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIO(JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIO
(JNIEnv* env, jclass, jint id)
{
// DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIO";
// DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
@@ -126,11 +138,12 @@ Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIO(JNIEnv *env, jclass, jint id) {
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: getDIODirection
* Signature: (J)Z
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIODirection(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIODirection
(JNIEnv* env, jclass, jint id)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIODirection (RR upd)";
// DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
@@ -144,10 +157,12 @@ Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIODirection(
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: pulse
* Signature: (JD)V
* Signature: (ID)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_pulse(
JNIEnv *env, jclass, jint id, jdouble value) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_pulse
(JNIEnv* env, jclass, jint id, jdouble value)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI pulse (RR upd)";
// DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
// DIOJNI_LOG(logDEBUG) << "Value = " << value;
@@ -160,10 +175,12 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_pulse(
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: isPulsing
* Signature: (J)Z
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_isPulsing(JNIEnv *env, jclass, jint 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 Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
@@ -180,7 +197,9 @@ Java_edu_wpi_first_wpilibj_hal_DIOJNI_isPulsing(JNIEnv *env, jclass, jint id) {
* Signature: ()Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_isAnyPulsing(JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_DIOJNI_isAnyPulsing
(JNIEnv* env, jclass)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI isAnyPulsing (RR upd)";
int32_t status = 0;
jboolean returnValue = HAL_IsAnyPulsing(&status);
@@ -196,7 +215,9 @@ Java_edu_wpi_first_wpilibj_hal_DIOJNI_isAnyPulsing(JNIEnv *env, jclass) {
* Signature: ()S
*/
JNIEXPORT jshort JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_getLoopTiming(JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_DIOJNI_getLoopTiming
(JNIEnv* env, jclass)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getLoopTimeing";
int32_t status = 0;
jshort returnValue = HAL_GetPWMLoopTiming(&status);
@@ -206,14 +227,15 @@ Java_edu_wpi_first_wpilibj_hal_DIOJNI_getLoopTiming(JNIEnv *env, jclass) {
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: allocateDigitalPWM
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_allocateDigitalPWM(JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_DIOJNI_allocateDigitalPWM
(JNIEnv* env, jclass)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI allocateDigitalPWM";
int32_t status = 0;
auto pwm = HAL_AllocateDigitalPWM(&status);
@@ -229,7 +251,9 @@ Java_edu_wpi_first_wpilibj_hal_DIOJNI_allocateDigitalPWM(JNIEnv* env, jclass) {
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDigitalPWM(JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDigitalPWM
(JNIEnv* env, jclass, jint id)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDigitalPWM";
DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id;
int32_t status = 0;
@@ -243,8 +267,10 @@ Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDigitalPWM(JNIEnv* env, jclass, jint i
* Method: setDigitalPWMRate
* Signature: (D)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMRate(
JNIEnv* env, jclass, jdouble value) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMRate
(JNIEnv* env, jclass, jdouble value)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMRate";
DIOJNI_LOG(logDEBUG) << "Rate= " << value;
int32_t status = 0;
@@ -258,8 +284,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMRate(
* Method: setDigitalPWMDutyCycle
* Signature: (ID)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMDutyCycle(
JNIEnv* env, jclass, jint id, jdouble value) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMDutyCycle
(JNIEnv* env, jclass, jint id, jdouble value)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMDutyCycle";
DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id;
DIOJNI_LOG(logDEBUG) << "DutyCycle= " << value;
@@ -275,13 +303,15 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMDutyCy
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMOutputChannel(
JNIEnv* env, jclass, jint id, jint value) {
Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMOutputChannel
(JNIEnv* env, jclass, jint id, jint value)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMOutputChannel";
DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id;
DIOJNI_LOG(logDEBUG) << "Channel= " << value;
int32_t status = 0;
HAL_SetDigitalPWMOutputChannel((HAL_DigitalPWMHandle)id, (uint32_t)value, &status);
HAL_SetDigitalPWMOutputChannel((HAL_DigitalPWMHandle)id,
static_cast<uint32_t>(value), &status);
DIOJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}

28
hal/src/main/native/cpp/jni/DigitalGlitchFilterJNI.cpp
View File

@@ -1,14 +1,14 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <jni.h>
#include "HAL/DIO.h"
#include "HALUtil.h"
#include "edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI.h"
using namespace frc;
@@ -16,10 +16,12 @@ using namespace frc;
/*
* Class: edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI
* Method: setFilterSelect
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_setFilterSelect(
JNIEnv* env, jclass, jint id, jint filter_index) {
Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_setFilterSelect
(JNIEnv* env, jclass, jint id, jint filter_index)
{
int32_t status = 0;
HAL_SetFilterSelect(static_cast<HAL_DigitalHandle>(id), filter_index,
@@ -30,10 +32,12 @@ Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_setFilterSelect(
/*
* Class: edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI
* Method: getFilterSelect
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_getFilterSelect(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_getFilterSelect
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
jint result =
@@ -45,10 +49,12 @@ Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_getFilterSelect(
/*
* Class: edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI
* Method: setFilterPeriod
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_setFilterPeriod(
JNIEnv* env, jclass, jint filter_index, jint fpga_cycles) {
Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_setFilterPeriod
(JNIEnv* env, jclass, jint filter_index, jint fpga_cycles)
{
int32_t status = 0;
HAL_SetFilterPeriod(filter_index, fpga_cycles, &status);
@@ -58,10 +64,12 @@ Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_setFilterPeriod(
/*
* Class: edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI
* Method: getFilterPeriod
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_getFilterPeriod(
JNIEnv* env, jclass, jint filter_index) {
Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_getFilterPeriod
(JNIEnv* env, jclass, jint filter_index)
{
int32_t status = 0;
jint result = HAL_GetFilterPeriod(filter_index, &status);

174
hal/src/main/native/cpp/jni/EncoderJNI.cpp
View File

@@ -1,19 +1,19 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <assert.h>
#include <jni.h>
#include "HAL/cpp/Log.h"
#include "edu_wpi_first_wpilibj_hal_EncoderJNI.h"
#include <cassert>
#include "HAL/Encoder.h"
#include "HAL/Errors.h"
#include "HAL/cpp/Log.h"
#include "HALUtil.h"
#include "edu_wpi_first_wpilibj_hal_EncoderJNI.h"
using namespace frc;
@@ -24,7 +24,7 @@ TLogLevel encoderJNILogLevel = logWARNING;
if (level > encoderJNILogLevel) \
; \
else \
Log().Get(level)
Log().Get(level)
extern "C" {
@@ -34,24 +34,25 @@ extern "C" {
* Signature: (IIIIZI)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder(
JNIEnv* env, jclass, jint digitalSourceHandleA, jint analogTriggerTypeA,
jint digitalSourceHandleB, jint analogTriggerTypeB, jboolean reverseDirection,
jint encodingType) {
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder
(JNIEnv* env, jclass, jint digitalSourceHandleA, jint analogTriggerTypeA,
jint digitalSourceHandleB, jint analogTriggerTypeB,
jboolean reverseDirection, jint encodingType)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI initializeEncoder";
ENCODERJNI_LOG(logDEBUG) << "Source Handle A = " << digitalSourceHandleA;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type A = "
<< analogTriggerTypeA;
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) << "Analog Trigger Type B = " << analogTriggerTypeB;
ENCODERJNI_LOG(logDEBUG) << "Reverse direction = " << (jint)reverseDirection;
ENCODERJNI_LOG(logDEBUG) << "EncodingType = " << encodingType;
int32_t status = 0;
auto encoder = HAL_InitializeEncoder(
(HAL_Handle)digitalSourceHandleA, (HAL_AnalogTriggerType)analogTriggerTypeA,
(HAL_Handle)digitalSourceHandleB, (HAL_AnalogTriggerType)analogTriggerTypeB,
reverseDirection, (HAL_EncoderEncodingType)encodingType, &status);
(HAL_Handle)digitalSourceHandleA,
(HAL_AnalogTriggerType)analogTriggerTypeA,
(HAL_Handle)digitalSourceHandleB,
(HAL_AnalogTriggerType)analogTriggerTypeB, reverseDirection,
(HAL_EncoderEncodingType)encodingType, &status);
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
ENCODERJNI_LOG(logDEBUG) << "ENCODER Handle = " << encoder;
@@ -64,8 +65,10 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder(
* Method: freeEncoder
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_freeEncoder(
JNIEnv* env, jclass, jint id) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_freeEncoder
(JNIEnv* env, jclass, jint id)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI freeEncoder";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
@@ -79,8 +82,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_freeEncoder(
* Method: getEncoder
* Signature: (I)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoder(
JNIEnv* env, jclass, jint id) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoder
(JNIEnv* env, jclass, jint id)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoder";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
@@ -96,8 +101,10 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoder(
* Method: getEncoderRaw
* Signature: (I)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderRaw(
JNIEnv* env, jclass, jint id) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderRaw
(JNIEnv* env, jclass, jint id)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderRaw";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
@@ -113,12 +120,15 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderRaw(
* Method: getEncodingScaleFactor
* Signature: (I)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncodingScaleFactor(
JNIEnv* env, jclass, jint id) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncodingScaleFactor
(JNIEnv* env, jclass, jint id)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncodingScaleFactor";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jint returnValue = HAL_GetEncoderEncodingScale((HAL_EncoderHandle)id, &status);
jint returnValue =
HAL_GetEncoderEncodingScale((HAL_EncoderHandle)id, &status);
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
ENCODERJNI_LOG(logDEBUG) << "getEncodingScaleFactorResult = " << returnValue;
CheckStatus(env, status);
@@ -130,8 +140,10 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncodingScal
* Method: resetEncoder
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_resetEncoder(
JNIEnv* env, jclass, jint id) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_resetEncoder
(JNIEnv* env, jclass, jint id)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI resetEncoder";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
@@ -146,8 +158,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_resetEncoder(
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderPeriod(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderPeriod
(JNIEnv* env, jclass, jint id)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderPeriod";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
@@ -164,8 +177,9 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderPeriod(
* Signature: (ID)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMaxPeriod(
JNIEnv* env, jclass, jint id, jdouble value) {
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMaxPeriod
(JNIEnv* env, jclass, jint id, jdouble value)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderMaxPeriod";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
@@ -180,8 +194,9 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMaxPeriod(
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderStopped(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderStopped
(JNIEnv* env, jclass, jint id)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderStopped";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
@@ -198,12 +213,14 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderStopped(
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDirection(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDirection
(JNIEnv* env, jclass, jint id)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderDirection";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jboolean returnValue = HAL_GetEncoderDirection((HAL_EncoderHandle)id, &status);
jboolean returnValue =
HAL_GetEncoderDirection((HAL_EncoderHandle)id, &status);
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
ENCODERJNI_LOG(logDEBUG) << "getDirectionEncoderResult = " << returnValue;
CheckStatus(env, status);
@@ -216,8 +233,9 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDirection(
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDistance(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDistance
(JNIEnv* env, jclass, jint id)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderDistance";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
@@ -234,8 +252,9 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDistance(
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderRate(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderRate
(JNIEnv* env, jclass, jint id)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderRate";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
@@ -252,8 +271,9 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderRate(
* Signature: (ID)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMinRate(
JNIEnv* env, jclass, jint id, jdouble value) {
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMinRate
(JNIEnv* env, jclass, jint id, jdouble value)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderMinRate";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
@@ -268,8 +288,9 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMinRate(
* Signature: (ID)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderDistancePerPulse(
JNIEnv* env, jclass, jint id, jdouble value) {
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderDistancePerPulse
(JNIEnv* env, jclass, jint id, jdouble value)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderDistancePerPulse";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
@@ -284,8 +305,9 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderDistancePerPulse(
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderReverseDirection(
JNIEnv* env, jclass, jint id, jboolean value) {
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderReverseDirection
(JNIEnv* env, jclass, jint id, jboolean value)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderReverseDirection";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
@@ -300,8 +322,9 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderReverseDirection(
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderSamplesToAverage(
JNIEnv* env, jclass, jint id, jint value) {
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderSamplesToAverage
(JNIEnv* env, jclass, jint id, jint value)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderSamplesToAverage";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
@@ -320,12 +343,14 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderSamplesToAverage(
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderSamplesToAverage(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderSamplesToAverage
(JNIEnv* env, jclass, jint id)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jint returnValue = HAL_GetEncoderSamplesToAverage((HAL_EncoderHandle)id, &status);
jint returnValue =
HAL_GetEncoderSamplesToAverage((HAL_EncoderHandle)id, &status);
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
<< returnValue;
@@ -339,17 +364,18 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderSamplesToAverage(
* Signature: (IIII)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderIndexSource(
JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
jint analogTriggerType, jint type) {
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderIndexSource
(JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
jint analogTriggerType, jint type)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderIndexSource";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
ENCODERJNI_LOG(logDEBUG) << "Source Handle = " << digitalSourceHandle;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type = "
<< analogTriggerType;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type = " << analogTriggerType;
ENCODERJNI_LOG(logDEBUG) << "IndexingType = " << type;
int32_t status = 0;
HAL_SetEncoderIndexSource((HAL_EncoderHandle)id, (HAL_Handle)digitalSourceHandle,
HAL_SetEncoderIndexSource((HAL_EncoderHandle)id,
(HAL_Handle)digitalSourceHandle,
(HAL_AnalogTriggerType)analogTriggerType,
(HAL_EncoderIndexingType)type, &status);
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
@@ -362,8 +388,9 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderIndexSource(
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderFPGAIndex(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderFPGAIndex
(JNIEnv* env, jclass, jint id)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
@@ -381,12 +408,14 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderFPGAIndex(
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderEncodingScale(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderEncodingScale
(JNIEnv* env, jclass, jint id)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jint returnValue = HAL_GetEncoderEncodingScale((HAL_EncoderHandle)id, &status);
jint returnValue =
HAL_GetEncoderEncodingScale((HAL_EncoderHandle)id, &status);
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
<< returnValue;
@@ -400,12 +429,14 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderEncodingScale(
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDecodingScaleFactor(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDecodingScaleFactor
(JNIEnv* env, jclass, jint id)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jdouble returnValue = HAL_GetEncoderDecodingScaleFactor((HAL_EncoderHandle)id, &status);
jdouble returnValue =
HAL_GetEncoderDecodingScaleFactor((HAL_EncoderHandle)id, &status);
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
<< returnValue;
@@ -419,12 +450,14 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDecodingScaleFactor(
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDistancePerPulse(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDistancePerPulse
(JNIEnv* env, jclass, jint id)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jdouble returnValue = HAL_GetEncoderDistancePerPulse((HAL_EncoderHandle)id, &status);
jdouble returnValue =
HAL_GetEncoderDistancePerPulse((HAL_EncoderHandle)id, &status);
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
<< returnValue;
@@ -438,8 +471,9 @@ Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDistancePerPulse(
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderEncodingType(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderEncodingType
(JNIEnv* env, jclass, jint id)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;

270
hal/src/main/native/cpp/jni/HAL.cpp
View File

@@ -1,21 +1,23 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "HAL/HAL.h"
#include <jni.h>
#include <cassert>
#include <cstring>
#include <assert.h>
#include <jni.h>
#include "HAL/cpp/Log.h"
#include <wpi/jni_util.h>
#include "HAL/HAL.h"
#include "HAL/DriverStation.h"
#include "edu_wpi_first_wpilibj_hal_HAL.h"
#include "HAL/cpp/Log.h"
#include "HALUtil.h"
#include "wpi/jni_util.h"
#include "edu_wpi_first_wpilibj_hal_HAL.h"
using namespace frc;
using namespace wpi::java;
@@ -27,101 +29,115 @@ static TLogLevel netCommLogLevel = logWARNING;
if (level > netCommLogLevel) \
; \
else \
Log().Get(level)
Log().Get(level)
extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: Initialize
* Signature: (Z)II
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: initialize
* Signature: (II)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_initialize(JNIEnv*, jclass, jint timeout, jint mode) {
Java_edu_wpi_first_wpilibj_hal_HAL_initialize
(JNIEnv*, jclass, jint timeout, jint mode)
{
return HAL_Initialize(timeout, mode);
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: observeUserProgramStarting
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramStarting(JNIEnv*, jclass) {
Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramStarting
(JNIEnv*, jclass)
{
HAL_ObserveUserProgramStarting();
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: observeUserProgramDisabled
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramDisabled(JNIEnv*, jclass) {
Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramDisabled
(JNIEnv*, jclass)
{
HAL_ObserveUserProgramDisabled();
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: observeUserProgramAutonomous
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramAutonomous(
JNIEnv*, jclass) {
Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramAutonomous
(JNIEnv*, jclass)
{
HAL_ObserveUserProgramAutonomous();
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: observeUserProgramTeleop
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramTeleop(JNIEnv*, jclass) {
Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramTeleop
(JNIEnv*, jclass)
{
HAL_ObserveUserProgramTeleop();
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: observeUserProgramTest
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramTest(JNIEnv*, jclass) {
Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramTest
(JNIEnv*, jclass)
{
HAL_ObserveUserProgramTest();
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_Report
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: report
* Signature: (IIILjava/lang/String;)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_report(
JNIEnv* paramEnv, jclass, jint paramResource, jint paramInstanceNumber,
jint paramContext, jstring paramFeature) {
Java_edu_wpi_first_wpilibj_hal_HAL_report
(JNIEnv* paramEnv, jclass, jint paramResource, jint paramInstanceNumber,
jint paramContext, jstring paramFeature)
{
JStringRef featureStr{paramEnv, paramFeature};
NETCOMM_LOG(logDEBUG) << "Calling HAL report "
<< "res:" << paramResource
<< " instance:" << paramInstanceNumber
<< " context:" << paramContext
<< " feature:" << featureStr.c_str();
jint returnValue =
HAL_Report(paramResource, paramInstanceNumber, paramContext, featureStr.c_str());
jint returnValue = HAL_Report(paramResource, paramInstanceNumber,
paramContext, featureStr.c_str());
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: NativeGetControlWord
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: nativeGetControlWord
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetControlWord(JNIEnv*, jclass) {
Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetControlWord
(JNIEnv*, jclass)
{
NETCOMM_LOG(logDEBUG) << "Calling HAL Control Word";
static_assert(sizeof(HAL_ControlWord) == sizeof(jint),
"Java int must match the size of control word");
"Java int must match the size of control word");
HAL_ControlWord controlWord;
std::memset(&controlWord, 0, sizeof(HAL_ControlWord));
HAL_GetControlWord(&controlWord);
@@ -131,12 +147,14 @@ Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetControlWord(JNIEnv*, jclass) {
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: NativeGetAllianceStation
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: nativeGetAllianceStation
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetAllianceStation(JNIEnv*, jclass) {
Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetAllianceStation
(JNIEnv*, jclass)
{
NETCOMM_LOG(logDEBUG) << "Calling HAL Alliance Station";
int32_t status = 0;
auto allianceStation = HAL_GetAllianceStation(&status);
@@ -144,22 +162,22 @@ Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetAllianceStation(JNIEnv*, jclass) {
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetJoystickAxes
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: getJoystickAxes
* Signature: (B[F)S
*/
JNIEXPORT jshort JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxes(JNIEnv* env, jclass,
jbyte joystickNum,
jfloatArray axesArray) {
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxes
(JNIEnv* env, jclass, jbyte joystickNum, jfloatArray axesArray)
{
NETCOMM_LOG(logDEBUG) << "Calling HALJoystickAxes";
HAL_JoystickAxes axes;
HAL_GetJoystickAxes(joystickNum, &axes);
jsize javaSize = env->GetArrayLength(axesArray);
if (axes.count > javaSize)
{
ThrowIllegalArgumentException(env, "Native array size larger then passed in java array size");
if (axes.count > javaSize) {
ThrowIllegalArgumentException(
env, "Native array size larger then passed in java array size");
}
env->SetFloatArrayRegion(axesArray, 0, axes.count, axes.axes);
@@ -168,22 +186,22 @@ Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxes(JNIEnv* env, jclass,
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetJoystickPOVs
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: getJoystickPOVs
* Signature: (B[S)S
*/
JNIEXPORT jshort JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickPOVs(JNIEnv* env, jclass,
jbyte joystickNum,
jshortArray povsArray) {
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickPOVs
(JNIEnv* env, jclass, jbyte joystickNum, jshortArray povsArray)
{
NETCOMM_LOG(logDEBUG) << "Calling HALJoystickPOVs";
HAL_JoystickPOVs povs;
HAL_GetJoystickPOVs(joystickNum, &povs);
jsize javaSize = env->GetArrayLength(povsArray);
if (povs.count > javaSize)
{
ThrowIllegalArgumentException(env, "Native array size larger then passed in java array size");
if (povs.count > javaSize) {
ThrowIllegalArgumentException(
env, "Native array size larger then passed in java array size");
}
env->SetShortArrayRegion(povsArray, 0, povs.count, povs.povs);
@@ -192,18 +210,19 @@ Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickPOVs(JNIEnv* env, jclass,
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetJoystickButtons
* Signature: (BL)I
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: getJoystickButtons
* Signature: (BLjava/lang/Object;)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickButtons(JNIEnv* env, jclass,
jbyte joystickNum,
jobject count) {
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickButtons
(JNIEnv* env, jclass, jbyte joystickNum, jobject count)
{
NETCOMM_LOG(logDEBUG) << "Calling HALJoystickButtons";
HAL_JoystickButtons joystickButtons;
HAL_GetJoystickButtons(joystickNum, &joystickButtons);
jbyte *countPtr = (jbyte *)env->GetDirectBufferAddress(count);
jbyte* countPtr =
reinterpret_cast<jbyte*>(env->GetDirectBufferAddress(count));
NETCOMM_LOG(logDEBUG) << "Buttons = " << joystickButtons.buttons;
NETCOMM_LOG(logDEBUG) << "Count = " << (jint)joystickButtons.count;
*countPtr = joystickButtons.count;
@@ -212,15 +231,15 @@ Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickButtons(JNIEnv* env, jclass,
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_SetJoystickOutputs
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: setJoystickOutputs
* Signature: (BISS)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_setJoystickOutputs(JNIEnv*, jclass,
jbyte port, jint outputs,
jshort leftRumble,
jshort rightRumble) {
Java_edu_wpi_first_wpilibj_hal_HAL_setJoystickOutputs
(JNIEnv*, jclass, jbyte port, jint outputs, jshort leftRumble,
jshort rightRumble)
{
NETCOMM_LOG(logDEBUG) << "Calling HAL_SetJoystickOutputs on port " << port;
NETCOMM_LOG(logDEBUG) << "Outputs: " << outputs;
NETCOMM_LOG(logDEBUG) << "Left Rumble: " << leftRumble
@@ -229,53 +248,56 @@ Java_edu_wpi_first_wpilibj_hal_HAL_setJoystickOutputs(JNIEnv*, jclass,
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetJoystickIsXbox
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: getJoystickIsXbox
* Signature: (B)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickIsXbox(JNIEnv*, jclass,
jbyte port) {
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickIsXbox
(JNIEnv*, jclass, jbyte port)
{
NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickIsXbox";
return HAL_GetJoystickIsXbox(port);
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetJoystickType
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: getJoystickType
* Signature: (B)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickType(JNIEnv*, jclass,
jbyte port) {
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickType
(JNIEnv*, jclass, jbyte port)
{
NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickType";
return HAL_GetJoystickType(port);
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetJoystickName
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: getJoystickName
* Signature: (B)Ljava/lang/String;
*/
JNIEXPORT jstring JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickName(JNIEnv* env, jclass,
jbyte port) {
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickName
(JNIEnv* env, jclass, jbyte port)
{
NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickName";
char *joystickName = HAL_GetJoystickName(port);
char* joystickName = HAL_GetJoystickName(port);
jstring str = MakeJString(env, joystickName);
HAL_FreeJoystickName(joystickName);
return str;
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetJoystickAxisType
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: getJoystickAxisType
* Signature: (BB)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxisType(JNIEnv*, jclass,
jbyte joystickNum,
jbyte axis) {
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxisType
(JNIEnv*, jclass, jbyte joystickNum, jbyte axis)
{
NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickAxisType";
return HAL_GetJoystickAxisType(joystickNum, axis);
}
@@ -286,27 +308,33 @@ Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxisType(JNIEnv*, jclass,
* Signature: ()Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_isNewControlData(JNIEnv *, jclass) {
Java_edu_wpi_first_wpilibj_hal_HAL_isNewControlData
(JNIEnv*, jclass)
{
return static_cast<jboolean>(HAL_IsNewControlData());
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: waitForDSData
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_waitForDSData(JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_HAL_waitForDSData
(JNIEnv* env, jclass)
{
HAL_WaitForDSData();
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: releaseDSMutex
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_releaseDSMutex(JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_HAL_releaseDSMutex
(JNIEnv* env, jclass)
{
HAL_ReleaseDSMutex();
}
@@ -316,29 +344,34 @@ Java_edu_wpi_first_wpilibj_hal_HAL_releaseDSMutex(JNIEnv* env, jclass) {
* Signature: (D)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_waitForDSDataTimeout(JNIEnv *, jclass,
jdouble timeout) {
Java_edu_wpi_first_wpilibj_hal_HAL_waitForDSDataTimeout
(JNIEnv*, jclass, jdouble timeout)
{
return static_cast<jboolean>(HAL_WaitForDSDataTimeout(timeout));
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetMatchTime
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: getMatchTime
* Signature: ()D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getMatchTime(JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_HAL_getMatchTime
(JNIEnv* env, jclass)
{
int32_t status = 0;
return HAL_GetMatchTime(&status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetSystemActive
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: getSystemActive
* Signature: ()Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getSystemActive(JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_HAL_getSystemActive
(JNIEnv* env, jclass)
{
int32_t status = 0;
bool val = HAL_GetSystemActive(&status);
CheckStatus(env, status);
@@ -346,12 +379,14 @@ Java_edu_wpi_first_wpilibj_hal_HAL_getSystemActive(JNIEnv* env, jclass) {
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetBrownedOut
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: getBrownedOut
* Signature: ()Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getBrownedOut(JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_HAL_getBrownedOut
(JNIEnv* env, jclass)
{
int32_t status = 0;
bool val = HAL_GetBrownedOut(&status);
CheckStatus(env, status);
@@ -361,11 +396,12 @@ Java_edu_wpi_first_wpilibj_hal_HAL_getBrownedOut(JNIEnv* env, jclass) {
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: getMatchInfo
* Signature: (Ledu/wpi/first/wpilibj/hal/MatchInfoData;)I
* Signature: (Ljava/lang/Object;)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getMatchInfo
(JNIEnv * env, jclass, jobject info) {
(JNIEnv* env, jclass, jobject info)
{
HAL_MatchInfo matchInfo;
auto status = HAL_GetMatchInfo(&matchInfo);
if (status == 0) {
@@ -376,17 +412,15 @@ Java_edu_wpi_first_wpilibj_hal_HAL_getMatchInfo
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_SendError
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: sendError
* Signature: (ZIZLjava/lang/String;Ljava/lang/String;Ljava/lang/String;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_sendError(JNIEnv* env, jclass,
jboolean isError, jint errorCode,
jboolean isLVCode, jstring details,
jstring location,
jstring callStack,
jboolean printMsg) {
Java_edu_wpi_first_wpilibj_hal_HAL_sendError
(JNIEnv* env, jclass, jboolean isError, jint errorCode, jboolean isLVCode,
jstring details, jstring location, jstring callStack, jboolean printMsg)
{
JStringRef detailsStr{env, details};
JStringRef locationStr{env, location};
JStringRef callStackStr{env, callStack};
@@ -394,8 +428,9 @@ Java_edu_wpi_first_wpilibj_hal_HAL_sendError(JNIEnv* env, jclass,
NETCOMM_LOG(logDEBUG) << "Send Error: " << detailsStr.c_str();
NETCOMM_LOG(logDEBUG) << "Location: " << locationStr.c_str();
NETCOMM_LOG(logDEBUG) << "Call Stack: " << callStackStr.c_str();
jint returnValue = HAL_SendError(isError, errorCode, isLVCode, detailsStr.c_str(),
locationStr.c_str(), callStackStr.c_str(), printMsg);
jint returnValue =
HAL_SendError(isError, errorCode, isLVCode, detailsStr.c_str(),
locationStr.c_str(), callStackStr.c_str(), printMsg);
return returnValue;
}
@@ -405,8 +440,9 @@ Java_edu_wpi_first_wpilibj_hal_HAL_sendError(JNIEnv* env, jclass,
* Signature: (BB)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getPortWithModule(
JNIEnv* env, jclass, jbyte module, jbyte channel) {
Java_edu_wpi_first_wpilibj_hal_HAL_getPortWithModule
(JNIEnv* env, jclass, jbyte module, jbyte channel)
{
// FILE_LOG(logDEBUG) << "Calling HAL getPortWithModlue";
// FILE_LOG(logDEBUG) << "Module = " << (jint)module;
// FILE_LOG(logDEBUG) << "Channel = " << (jint)channel;
@@ -420,8 +456,10 @@ Java_edu_wpi_first_wpilibj_hal_HAL_getPortWithModule(
* Method: getPort
* Signature: (B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_HAL_getPort(
JNIEnv* env, jclass, jbyte channel) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getPort
(JNIEnv* env, jclass, jbyte channel)
{
// FILE_LOG(logDEBUG) << "Calling HAL getPortWithModlue";
// FILE_LOG(logDEBUG) << "Module = " << (jint)module;
// FILE_LOG(logDEBUG) << "Channel = " << (jint)channel;

196
hal/src/main/native/cpp/jni/HALUtil.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,23 +7,24 @@
#include "HALUtil.h"
#include <assert.h>
#include <errno.h>
#include <jni.h>
#include <cassert>
#include <cerrno>
#include <cstdio>
#include <cstring>
#include <string>
#include <wpi/SmallString.h>
#include <wpi/jni_util.h>
#include <wpi/raw_ostream.h>
#include "HAL/CAN.h"
#include "HAL/HAL.h"
#include "HAL/DriverStation.h"
#include "HAL/Errors.h"
#include "HAL/HAL.h"
#include "HAL/cpp/Log.h"
#include "edu_wpi_first_wpilibj_hal_HALUtil.h"
#include "wpi/SmallString.h"
#include "wpi/jni_util.h"
#include "wpi/raw_ostream.h"
using namespace wpi::java;
@@ -34,7 +35,7 @@ TLogLevel halUtilLogLevel = logWARNING;
if (level > halUtilLogLevel) \
; \
else \
Log().Get(level)
Log().Get(level)
#define kRioStatusOffset -63000
#define kRioStatusSuccess 0
@@ -43,7 +44,7 @@ TLogLevel halUtilLogLevel = logWARNING;
#define kRIOStatusFeatureNotSupported (kRioStatusOffset - 193)
#define kRIOStatusResourceNotInitialized -52010
static JavaVM *jvm = nullptr;
static JavaVM* jvm = nullptr;
static JException runtimeExCls;
static JException illegalArgExCls;
static JException boundaryExCls;
@@ -61,32 +62,32 @@ static JClass accumulatorResultCls;
namespace frc {
void ThrowAllocationException(JNIEnv *env, int32_t minRange, int32_t maxRange,
int32_t requestedValue, int32_t status) {
const char *message = HAL_GetErrorMessage(status);
void ThrowAllocationException(JNIEnv* env, int32_t minRange, int32_t maxRange,
int32_t requestedValue, int32_t status) {
const char* message = HAL_GetErrorMessage(status);
wpi::SmallString<1024> buf;
wpi::raw_svector_ostream oss(buf);
oss << " Code: " << status << ". " << message << ", Minimum Value: "
<< minRange << ", Maximum Value: " << maxRange << ", Requested Value: "
<< requestedValue;
oss << " Code: " << status << ". " << message
<< ", Minimum Value: " << minRange << ", Maximum Value: " << maxRange
<< ", Requested Value: " << requestedValue;
env->ThrowNew(allocationExCls, buf.c_str());
allocationExCls.Throw(env, buf.c_str());
}
void ThrowHalHandleException(JNIEnv *env, int32_t status) {
const char *message = HAL_GetErrorMessage(status);
void ThrowHalHandleException(JNIEnv* env, int32_t status) {
const char* message = HAL_GetErrorMessage(status);
wpi::SmallString<1024> buf;
wpi::raw_svector_ostream oss(buf);
oss << " Code: " << status << ". " << message;
halHandleExCls.Throw(env, buf.c_str());
}
void ReportError(JNIEnv *env, int32_t status, bool doThrow) {
void ReportError(JNIEnv* env, int32_t status, bool doThrow) {
if (status == 0) return;
if (status == HAL_HANDLE_ERROR) {
ThrowHalHandleException(env, status);
}
const char *message = HAL_GetErrorMessage(status);
const char* message = HAL_GetErrorMessage(status);
if (doThrow && status < 0) {
wpi::SmallString<1024> buf;
wpi::raw_svector_ostream oss(buf);
@@ -99,25 +100,24 @@ void ReportError(JNIEnv *env, int32_t status, bool doThrow) {
}
}
void ThrowError(JNIEnv *env, int32_t status, int32_t minRange, int32_t maxRange,
void ThrowError(JNIEnv* env, int32_t status, int32_t minRange, int32_t maxRange,
int32_t requestedValue) {
if (status == 0) return;
if (status == NO_AVAILABLE_RESOURCES ||
status == RESOURCE_IS_ALLOCATED ||
if (status == NO_AVAILABLE_RESOURCES || status == RESOURCE_IS_ALLOCATED ||
status == RESOURCE_OUT_OF_RANGE) {
ThrowAllocationException(env, minRange, maxRange, requestedValue, status);
}
if (status == HAL_HANDLE_ERROR) {
ThrowHalHandleException(env, status);
}
const char *message = HAL_GetErrorMessage(status);
const char* message = HAL_GetErrorMessage(status);
wpi::SmallString<1024> buf;
wpi::raw_svector_ostream oss(buf);
oss << " Code: " << status << ". " << message;
runtimeExCls.Throw(env, buf.c_str());
}
void ReportCANError(JNIEnv *env, int32_t status, int message_id) {
void ReportCANError(JNIEnv* env, int32_t status, int message_id) {
if (status >= 0) return;
switch (status) {
case kRioStatusSuccess:
@@ -174,11 +174,11 @@ void ReportCANError(JNIEnv *env, int32_t status, int message_id) {
}
}
void ThrowIllegalArgumentException(JNIEnv *env, const char *msg) {
void ThrowIllegalArgumentException(JNIEnv* env, const char* msg) {
illegalArgExCls.Throw(env, msg);
}
void ThrowBoundaryException(JNIEnv *env, double value, double lower,
void ThrowBoundaryException(JNIEnv* env, double value, double lower,
double upper) {
static jmethodID getMessage = nullptr;
if (!getMessage)
@@ -190,69 +190,61 @@ void ThrowBoundaryException(JNIEnv *env, double value, double lower,
constructor =
env->GetMethodID(boundaryExCls, "<init>", "(Ljava/lang/String;)V");
jobject msg =
env->CallStaticObjectMethod(boundaryExCls, getMessage,
static_cast<jdouble>(value),
static_cast<jdouble>(lower),
static_cast<jdouble>(upper));
jobject msg = env->CallStaticObjectMethod(
boundaryExCls, getMessage, static_cast<jdouble>(value),
static_cast<jdouble>(lower), static_cast<jdouble>(upper));
jobject ex = env->NewObject(boundaryExCls, constructor, msg);
env->Throw(static_cast<jthrowable>(ex));
}
jobject CreatePWMConfigDataResult(JNIEnv *env, int32_t maxPwm,
int32_t deadbandMaxPwm, int32_t centerPwm,
int32_t deadbandMinPwm, int32_t minPwm) {
jobject CreatePWMConfigDataResult(JNIEnv* env, int32_t maxPwm,
int32_t deadbandMaxPwm, int32_t centerPwm,
int32_t deadbandMinPwm, int32_t minPwm) {
static jmethodID constructor =
env->GetMethodID(pwmConfigDataResultCls, "<init>",
"(IIIII)V");
env->GetMethodID(pwmConfigDataResultCls, "<init>", "(IIIII)V");
return env->NewObject(pwmConfigDataResultCls, constructor, maxPwm,
deadbandMaxPwm, centerPwm, deadbandMinPwm,
minPwm);
deadbandMaxPwm, centerPwm, deadbandMinPwm, minPwm);
}
void SetCanStatusObject(JNIEnv *env, jobject canStatus,
float percentBusUtilization,
uint32_t busOffCount, uint32_t txFullCount,
uint32_t receiveErrorCount,
void SetCanStatusObject(JNIEnv* env, jobject canStatus,
float percentBusUtilization, uint32_t busOffCount,
uint32_t txFullCount, uint32_t receiveErrorCount,
uint32_t transmitErrorCount) {
static jmethodID func = env->GetMethodID(canStatusCls, "setStatus",
"(DIIII)V");
static jmethodID func =
env->GetMethodID(canStatusCls, "setStatus", "(DIIII)V");
env->CallVoidMethod(canStatus, func, (jdouble)percentBusUtilization,
(jint)busOffCount, (jint)txFullCount,
(jint)receiveErrorCount, (jint)transmitErrorCount);
(jint)busOffCount, (jint)txFullCount,
(jint)receiveErrorCount, (jint)transmitErrorCount);
}
void SetMatchInfoObject(JNIEnv* env, jobject matchStatus,
const HAL_MatchInfo& matchInfo) {
static jmethodID func = env->GetMethodID(matchInfoDataCls, "setData",
"(Ljava/lang/String;Ljava/lang/String;III)V");
static jmethodID func =
env->GetMethodID(matchInfoDataCls, "setData",
"(Ljava/lang/String;Ljava/lang/String;III)V");
env->CallVoidMethod(matchStatus, func,
MakeJString(env, matchInfo.eventName),
MakeJString(env, matchInfo.gameSpecificMessage),
(jint)matchInfo.matchNumber,
(jint)matchInfo.replayNumber,
(jint)matchInfo.matchType);
env->CallVoidMethod(matchStatus, func, MakeJString(env, matchInfo.eventName),
MakeJString(env, matchInfo.gameSpecificMessage),
(jint)matchInfo.matchNumber, (jint)matchInfo.replayNumber,
(jint)matchInfo.matchType);
}
void SetAccumulatorResultObject(JNIEnv* env, jobject accumulatorResult,
int64_t value, int64_t count) {
static jmethodID func = env->GetMethodID(accumulatorResultCls, "set",
"(JJ)V");
static jmethodID func =
env->GetMethodID(accumulatorResultCls, "set", "(JJ)V");
env->CallVoidMethod(accumulatorResult, func, (jlong)value, (jlong)count);
}
JavaVM* GetJVM() {
return jvm;
}
JavaVM* GetJVM() { return jvm; }
} // namespace frc
namespace sim {
jint SimOnLoad(JavaVM* vm, void* reserved);
void SimOnUnload(JavaVM* vm, void* reserved);
}
jint SimOnLoad(JavaVM* vm, void* reserved);
void SimOnUnload(JavaVM* vm, void* reserved);
} // namespace sim
using namespace frc;
@@ -261,14 +253,14 @@ extern "C" {
//
// indicate JNI version support desired and load classes
//
JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved) {
JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
jvm = vm;
// set our logging level
Log::ReportingLevel() = logDEBUG;
JNIEnv *env;
if (vm->GetEnv(reinterpret_cast<void **>(&env), JNI_VERSION_1_6) != JNI_OK)
JNIEnv* env;
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
return JNI_ERR;
runtimeExCls = JException(env, "java/lang/RuntimeException");
@@ -277,31 +269,40 @@ JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved) {
illegalArgExCls = JException(env, "java/lang/IllegalArgumentException");
if (!illegalArgExCls) return JNI_ERR;
boundaryExCls = JException(env, "edu/wpi/first/wpilibj/util/BoundaryException");
boundaryExCls =
JException(env, "edu/wpi/first/wpilibj/util/BoundaryException");
if (!boundaryExCls) return JNI_ERR;
allocationExCls = JException(env, "edu/wpi/first/wpilibj/util/AllocationException");
allocationExCls =
JException(env, "edu/wpi/first/wpilibj/util/AllocationException");
if (!allocationExCls) return JNI_ERR;
halHandleExCls = JException(env, "edu/wpi/first/wpilibj/util/HalHandleException");
halHandleExCls =
JException(env, "edu/wpi/first/wpilibj/util/HalHandleException");
if (!halHandleExCls) return JNI_ERR;
canInvalidBufferExCls = JException(env, "edu/wpi/first/wpilibj/can/CANInvalidBufferException");
canInvalidBufferExCls =
JException(env, "edu/wpi/first/wpilibj/can/CANInvalidBufferException");
if (!canInvalidBufferExCls) return JNI_ERR;
canMessageNotFoundExCls = JException(env, "edu/wpi/first/wpilibj/can/CANMessageNotFoundException");
canMessageNotFoundExCls =
JException(env, "edu/wpi/first/wpilibj/can/CANMessageNotFoundException");
if (!canMessageNotFoundExCls) return JNI_ERR;
canMessageNotAllowedExCls = JException(env, "edu/wpi/first/wpilibj/can/CANMessageNotAllowedException");
canMessageNotAllowedExCls = JException(
env, "edu/wpi/first/wpilibj/can/CANMessageNotAllowedException");
if (!canMessageNotAllowedExCls) return JNI_ERR;
canNotInitializedExCls = JException(env, "edu/wpi/first/wpilibj/can/CANNotInitializedException");
canNotInitializedExCls =
JException(env, "edu/wpi/first/wpilibj/can/CANNotInitializedException");
if (!canNotInitializedExCls) return JNI_ERR;
uncleanStatusExCls = JException(env,"edu/wpi/first/wpilibj/util/UncleanStatusException");
uncleanStatusExCls =
JException(env, "edu/wpi/first/wpilibj/util/UncleanStatusException");
if (!uncleanStatusExCls) return JNI_ERR;
pwmConfigDataResultCls = JClass(env, "edu/wpi/first/wpilibj/PWMConfigDataResult");
pwmConfigDataResultCls =
JClass(env, "edu/wpi/first/wpilibj/PWMConfigDataResult");
if (!pwmConfigDataResultCls) return JNI_ERR;
canStatusCls = JClass(env, "edu/wpi/first/wpilibj/can/CANStatus");
@@ -316,11 +317,11 @@ JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved) {
return sim::SimOnLoad(vm, reserved);
}
JNIEXPORT void JNICALL JNI_OnUnload(JavaVM *vm, void *reserved) {
JNIEXPORT void JNICALL JNI_OnUnload(JavaVM* vm, void* reserved) {
sim::SimOnUnload(vm, reserved);
JNIEnv *env;
if (vm->GetEnv(reinterpret_cast<void **>(&env), JNI_VERSION_1_6) != JNI_OK)
JNIEnv* env;
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
return;
// Delete global references
runtimeExCls.free(env);
@@ -346,7 +347,9 @@ JNIEXPORT void JNICALL JNI_OnUnload(JavaVM *vm, void *reserved) {
* Signature: ()S
*/
JNIEXPORT jshort JNICALL
Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAVersion(JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAVersion
(JNIEnv* env, jclass)
{
HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGAVersion";
int32_t status = 0;
jshort returnValue = HAL_GetFPGAVersion(&status);
@@ -362,7 +365,9 @@ Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAVersion(JNIEnv *env, jclass) {
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGARevision(JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGARevision
(JNIEnv* env, jclass)
{
HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGARevision";
int32_t status = 0;
jint returnValue = HAL_GetFPGARevision(&status);
@@ -378,7 +383,9 @@ Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGARevision(JNIEnv *env, jclass) {
* Signature: ()J
*/
JNIEXPORT jlong JNICALL
Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGATime(JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGATime
(JNIEnv* env, jclass)
{
// HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
int32_t status = 0;
jlong returnValue = HAL_GetFPGATime(&status);
@@ -394,7 +401,9 @@ Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGATime(JNIEnv *env, jclass) {
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALRuntimeType(JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALRuntimeType
(JNIEnv* env, jclass)
{
// HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALRuntimeType";
jint returnValue = HAL_GetRuntimeType();
// HALUTIL_LOG(logDEBUG) << "RuntimeType = " << returnValue;
@@ -404,10 +413,12 @@ Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALRuntimeType(JNIEnv *env, jclass) {
/*
* Class: edu_wpi_first_wpilibj_hal_HALUtil
* Method: getFPGAButton
* Signature: ()I
* Signature: ()Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAButton(JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAButton
(JNIEnv* env, jclass)
{
// HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
int32_t status = 0;
jboolean returnValue = HAL_GetFPGAButton(&status);
@@ -423,9 +434,10 @@ Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAButton(JNIEnv *env, jclass) {
* Signature: (I)Ljava/lang/String;
*/
JNIEXPORT jstring JNICALL
Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrorMessage(
JNIEnv *paramEnv, jclass, jint paramId) {
const char *msg = HAL_GetErrorMessage(paramId);
Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrorMessage
(JNIEnv* paramEnv, jclass, jint paramId)
{
const char* msg = HAL_GetErrorMessage(paramId);
HALUTIL_LOG(logDEBUG) << "Calling HALUtil HAL_GetErrorMessage id=" << paramId
<< " msg=" << msg;
return MakeJString(paramEnv, msg);
@@ -437,7 +449,9 @@ Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrorMessage(
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrno(JNIEnv *, jclass) {
Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrno
(JNIEnv*, jclass)
{
return errno;
}
@@ -446,9 +460,11 @@ Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrno(JNIEnv *, jclass) {
* Method: getHALstrerror
* Signature: (I)Ljava/lang/String;
*/
JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALstrerror(
JNIEnv *env, jclass, jint errorCode) {
const char *msg = strerror(errno);
JNIEXPORT jstring JNICALL
Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALstrerror
(JNIEnv* env, jclass, jint errorCode)
{
const char* msg = std::strerror(errno);
HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALstrerror errorCode="
<< errorCode << " msg=" << msg;
return MakeJString(env, msg);

42
hal/src/main/native/cpp/jni/HALUtil.h
View File

@@ -1,61 +1,59 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#ifndef HALUTIL_H
#define HALUTIL_H
#include <stdint.h>
#ifndef HAL_HAL_SRC_MAIN_NATIVE_CPP_JNI_HALUTIL_H_
#define HAL_HAL_SRC_MAIN_NATIVE_CPP_JNI_HALUTIL_H_
#include <jni.h>
#include <stdint.h>
struct HAL_MatchInfo;
namespace frc {
void ReportError(JNIEnv *env, int32_t status, bool doThrow = true);
void ReportError(JNIEnv* env, int32_t status, bool doThrow = true);
void ThrowError(JNIEnv *env, int32_t status, int32_t minRange, int32_t maxRange,
void ThrowError(JNIEnv* env, int32_t status, int32_t minRange, int32_t maxRange,
int32_t requestedValue);
inline bool CheckStatus(JNIEnv *env, int32_t status, bool doThrow = true) {
inline bool CheckStatus(JNIEnv* env, int32_t status, bool doThrow = true) {
if (status != 0) ReportError(env, status, doThrow);
return status == 0;
}
inline bool CheckStatusRange(JNIEnv *env, int32_t status, int32_t minRange,
inline bool CheckStatusRange(JNIEnv* env, int32_t status, int32_t minRange,
int32_t maxRange, int32_t requestedValue) {
if (status != 0) ThrowError(env, status, minRange, maxRange, requestedValue);
return status == 0;
}
inline bool CheckStatusForceThrow(JNIEnv *env, int32_t status) {
inline bool CheckStatusForceThrow(JNIEnv* env, int32_t status) {
if (status != 0) ThrowError(env, status, 0, 0, 0);
return status == 0;
}
void ReportCANError(JNIEnv *env, int32_t status, int32_t message_id);
void ReportCANError(JNIEnv* env, int32_t status, int32_t message_id);
inline bool CheckCANStatus(JNIEnv *env, int32_t status, int32_t message_id) {
inline bool CheckCANStatus(JNIEnv* env, int32_t status, int32_t message_id) {
if (status != 0) ReportCANError(env, status, message_id);
return status == 0;
}
void ThrowIllegalArgumentException(JNIEnv *env, const char *msg);
void ThrowBoundaryException(JNIEnv *env, double value, double lower,
void ThrowIllegalArgumentException(JNIEnv* env, const char* msg);
void ThrowBoundaryException(JNIEnv* env, double value, double lower,
double upper);
jobject CreatePWMConfigDataResult(JNIEnv *env, int32_t maxPwm,
int32_t deadbandMaxPwm, int32_t centerPwm,
int32_t deadbandMinPwm, int32_t minPwm);
jobject CreatePWMConfigDataResult(JNIEnv* env, int32_t maxPwm,
int32_t deadbandMaxPwm, int32_t centerPwm,
int32_t deadbandMinPwm, int32_t minPwm);
void SetCanStatusObject(JNIEnv *env, jobject canStatus,
float percentBusUtilization,
uint32_t busOffCount, uint32_t txFullCount,
uint32_t receiveErrorCount,
void SetCanStatusObject(JNIEnv* env, jobject canStatus,
float percentBusUtilization, uint32_t busOffCount,
uint32_t txFullCount, uint32_t receiveErrorCount,
uint32_t transmitErrorCount);
void SetMatchInfoObject(JNIEnv* env, jobject matchStatus,
@@ -68,4 +66,4 @@ JavaVM* GetJVM();
} // namespace frc
#endif // HALUTIL_H
#endif // HAL_HAL_SRC_MAIN_NATIVE_CPP_JNI_HALUTIL_H_

117
hal/src/main/native/cpp/jni/I2CJNI.cpp
View File

@@ -1,19 +1,20 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <assert.h>
#include <jni.h>
#include "HAL/cpp/Log.h"
#include "edu_wpi_first_wpilibj_hal_I2CJNI.h"
#include <cassert>
#include <wpi/jni_util.h>
#include "HAL/I2C.h"
#include "HAL/cpp/Log.h"
#include "HALUtil.h"
#include "wpi/jni_util.h"
#include "edu_wpi_first_wpilibj_hal_I2CJNI.h"
using namespace frc;
using namespace wpi::java;
@@ -25,17 +26,19 @@ TLogLevel i2cJNILogLevel = logWARNING;
if (level > i2cJNILogLevel) \
; \
else \
Log().Get(level)
Log().Get(level)
extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2cInitialize
* Method: i2CInitialize
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CInitialize(
JNIEnv* env, jclass, jint port) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CInitialize
(JNIEnv* env, jclass, jint port)
{
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CInititalize";
I2CJNI_LOG(logDEBUG) << "Port: " << port;
int32_t status = 0;
@@ -47,26 +50,32 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CInitialize(
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CTransaction
* Signature: (IBLjava/nio/ByteBuffer;BLjava/nio/ByteBuffer;B)I
* Signature: (IBLjava/lang/Object;BLjava/lang/Object;B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransaction(
JNIEnv* env, jclass, jint port, jbyte address, jobject dataToSend,
jbyte sendSize, jobject dataReceived, jbyte receiveSize) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransaction
(JNIEnv* env, jclass, jint port, jbyte address, jobject dataToSend,
jbyte sendSize, jobject dataReceived, jbyte receiveSize)
{
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CTransaction";
I2CJNI_LOG(logDEBUG) << "Port = " << port;
I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
uint8_t* dataToSendPtr = nullptr;
if (dataToSend != 0) {
dataToSendPtr = (uint8_t*)env->GetDirectBufferAddress(dataToSend);
dataToSendPtr =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataToSend));
}
I2CJNI_LOG(logDEBUG) << "DataToSendPtr = " << (jint*)dataToSendPtr;
I2CJNI_LOG(logDEBUG) << "DataToSendPtr = "
<< reinterpret_cast<jint*>(dataToSendPtr);
I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
uint8_t* dataReceivedPtr =
(uint8_t*)env->GetDirectBufferAddress(dataReceived);
I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << (jint*)dataReceivedPtr;
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataReceived));
I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = "
<< reinterpret_cast<jint*>(dataReceivedPtr);
I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << (jint)receiveSize;
jint returnValue = HAL_TransactionI2C(static_cast<HAL_I2CPort>(port), address, dataToSendPtr, sendSize,
dataReceivedPtr, receiveSize);
jint returnValue =
HAL_TransactionI2C(static_cast<HAL_I2CPort>(port), address, dataToSendPtr,
sendSize, dataReceivedPtr, receiveSize);
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
return returnValue;
}
@@ -76,9 +85,11 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransaction(
* Method: i2CTransactionB
* Signature: (IB[BB[BB)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransactionB(
JNIEnv* env, jclass, jint port, jbyte address, jbyteArray dataToSend,
jbyte sendSize, jbyteArray dataReceived, jbyte receiveSize) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransactionB
(JNIEnv* env, jclass, jint port, jbyte address, jbyteArray dataToSend,
jbyte sendSize, jbyteArray dataReceived, jbyte receiveSize)
{
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CTransactionB";
I2CJNI_LOG(logDEBUG) << "Port = " << port;
I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
@@ -88,11 +99,11 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransactionB(
I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << (jint)receiveSize;
jint returnValue =
HAL_TransactionI2C(static_cast<HAL_I2CPort>(port), address,
reinterpret_cast<const uint8_t *>(
reinterpret_cast<const uint8_t*>(
JByteArrayRef(env, dataToSend).array().data()),
sendSize, recvBuf.data(), receiveSize);
env->SetByteArrayRegion(dataReceived, 0, receiveSize,
reinterpret_cast<const jbyte *>(recvBuf.data()));
reinterpret_cast<const jbyte*>(recvBuf.data()));
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
return returnValue;
}
@@ -100,22 +111,26 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransactionB(
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CWrite
* Signature: (IBLjava/nio/ByteBuffer;B)I
* Signature: (IBLjava/lang/Object;B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWrite(
JNIEnv* env, jclass, jint port, jbyte address, jobject dataToSend,
jbyte sendSize) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWrite
(JNIEnv* env, jclass, jint port, jbyte address, jobject dataToSend,
jbyte sendSize)
{
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CWrite";
I2CJNI_LOG(logDEBUG) << "Port = " << port;
I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
uint8_t* dataToSendPtr = nullptr;
if (dataToSend != 0) {
dataToSendPtr = (uint8_t*)env->GetDirectBufferAddress(dataToSend);
dataToSendPtr =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataToSend));
}
I2CJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
jint returnValue = HAL_WriteI2C(static_cast<HAL_I2CPort>(port), address, dataToSendPtr, sendSize);
jint returnValue = HAL_WriteI2C(static_cast<HAL_I2CPort>(port), address,
dataToSendPtr, sendSize);
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)returnValue;
return returnValue;
}
@@ -125,16 +140,18 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWrite(
* Method: i2CWriteB
* Signature: (IB[BB)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWriteB(
JNIEnv* env, jclass, jint port, jbyte address, jbyteArray dataToSend,
jbyte sendSize) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWriteB
(JNIEnv* env, jclass, jint port, jbyte address, jbyteArray dataToSend,
jbyte sendSize)
{
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CWrite";
I2CJNI_LOG(logDEBUG) << "Port = " << port;
I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
jint returnValue =
HAL_WriteI2C(static_cast<HAL_I2CPort>(port), address,
reinterpret_cast<const uint8_t *>(
reinterpret_cast<const uint8_t*>(
JByteArrayRef(env, dataToSend).array().data()),
sendSize);
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)returnValue;
@@ -144,19 +161,22 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWriteB(
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CRead
* Signature: (IBLjava/nio/ByteBuffer;B)I
* Signature: (IBLjava/lang/Object;B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CRead(
JNIEnv* env, jclass, jint port, jbyte address, jobject dataReceived,
jbyte receiveSize) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CRead
(JNIEnv* env, jclass, jint port, jbyte address, jobject dataReceived,
jbyte receiveSize)
{
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CRead";
I2CJNI_LOG(logDEBUG) << "Port = " << port;
I2CJNI_LOG(logDEBUG) << "Address = " << address;
uint8_t* dataReceivedPtr =
(uint8_t*)env->GetDirectBufferAddress(dataReceived);
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataReceived));
I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << receiveSize;
jint returnValue = HAL_ReadI2C(static_cast<HAL_I2CPort>(port), address, dataReceivedPtr, receiveSize);
jint returnValue = HAL_ReadI2C(static_cast<HAL_I2CPort>(port), address,
dataReceivedPtr, receiveSize);
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
return returnValue;
}
@@ -166,18 +186,21 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CRead(
* Method: i2CReadB
* Signature: (IB[BB)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CReadB(
JNIEnv* env, jclass, jint port, jbyte address, jbyteArray dataReceived,
jbyte receiveSize) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CReadB
(JNIEnv* env, jclass, jint port, jbyte address, jbyteArray dataReceived,
jbyte receiveSize)
{
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CRead";
I2CJNI_LOG(logDEBUG) << "Port = " << port;
I2CJNI_LOG(logDEBUG) << "Address = " << address;
I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << receiveSize;
wpi::SmallVector<uint8_t, 128> recvBuf;
recvBuf.resize(receiveSize);
jint returnValue = HAL_ReadI2C(static_cast<HAL_I2CPort>(port), address, recvBuf.data(), receiveSize);
jint returnValue = HAL_ReadI2C(static_cast<HAL_I2CPort>(port), address,
recvBuf.data(), receiveSize);
env->SetByteArrayRegion(dataReceived, 0, receiveSize,
reinterpret_cast<const jbyte *>(recvBuf.data()));
reinterpret_cast<const jbyte*>(recvBuf.data()));
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
return returnValue;
}
@@ -188,7 +211,9 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CReadB(
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CClose(JNIEnv*, jclass, jint port) {
Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CClose
(JNIEnv*, jclass, jint port)
{
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CClose";
HAL_CloseI2C(static_cast<HAL_I2CPort>(port));
}

148
hal/src/main/native/cpp/jni/InterruptJNI.cpp
View File

@@ -1,21 +1,21 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <assert.h>
#include <jni.h>
#include <atomic>
#include <cassert>
#include <thread>
#include <wpi/SafeThread.h>
#include <wpi/mutex.h>
#include "HAL/cpp/Log.h"
#include "HAL/Interrupts.h"
#include "HAL/cpp/Log.h"
#include "HALUtil.h"
#include "edu_wpi_first_wpilibj_hal_InterruptJNI.h"
@@ -27,7 +27,7 @@ TLogLevel interruptJNILogLevel = logERROR;
if (level > interruptJNILogLevel) \
; \
else \
Log().Get(level)
Log().Get(level)
// Thread where callbacks are actually performed.
//
@@ -84,8 +84,8 @@ void InterruptThreadJNI::Main() {
args.version = JNI_VERSION_1_2;
args.name = const_cast<char*>("Interrupt");
args.group = nullptr;
jint rs = GetJVM()->AttachCurrentThreadAsDaemon(reinterpret_cast<void**>(&env),
&args);
jint rs = GetJVM()->AttachCurrentThreadAsDaemon(
reinterpret_cast<void**>(&env), &args);
if (rs != JNI_OK) return;
std::unique_lock<wpi::mutex> lock(m_mutex);
@@ -126,10 +126,11 @@ extern "C" {
* Signature: (Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeInterrupts(
JNIEnv* env, jclass, jboolean watcher) {
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeInterrupts
(JNIEnv* env, jclass, jboolean watcher)
{
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI initializeInterrupts";
INTERRUPTJNI_LOG(logDEBUG) << "watcher = " << (bool)watcher;
INTERRUPTJNI_LOG(logDEBUG) << "watcher = " << static_cast<bool>(watcher);
int32_t status = 0;
HAL_InterruptHandle interrupt = HAL_InitializeInterrupts(watcher, &status);
@@ -144,13 +145,15 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeInterrupts(
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: cleanInterrupts
* Signature: (J)V
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_cleanInterrupts(
JNIEnv* env, jclass, jint interruptHandle) {
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_cleanInterrupts
(JNIEnv* env, jclass, jint interruptHandle)
{
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI cleanInterrupts";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
INTERRUPTJNI_LOG(logDEBUG)
<< "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
int32_t status = 0;
HAL_CleanInterrupts((HAL_InterruptHandle)interruptHandle, &status);
@@ -163,14 +166,16 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_cleanInterrupts(
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: waitForInterrupt
* Signature: (JD)V
* Signature: (IDZ)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterrupt(
JNIEnv* env, jclass, jint interruptHandle, jdouble timeout,
jboolean ignorePrevious) {
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterrupt
(JNIEnv* env, jclass, jint interruptHandle, jdouble timeout,
jboolean ignorePrevious)
{
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI waitForInterrupt";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
INTERRUPTJNI_LOG(logDEBUG)
<< "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
int32_t status = 0;
int32_t result = HAL_WaitForInterrupt((HAL_InterruptHandle)interruptHandle,
@@ -185,13 +190,15 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterrupt(
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: enableInterrupts
* Signature: (J)V
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_enableInterrupts(
JNIEnv* env, jclass, jint interruptHandle) {
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_enableInterrupts
(JNIEnv* env, jclass, jint interruptHandle)
{
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI enableInterrupts";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
INTERRUPTJNI_LOG(logDEBUG)
<< "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
int32_t status = 0;
HAL_EnableInterrupts((HAL_InterruptHandle)interruptHandle, &status);
@@ -204,13 +211,15 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_enableInterrupts(
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: disableInterrupts
* Signature: (J)V
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterrupts(
JNIEnv* env, jclass, jint interruptHandle) {
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterrupts
(JNIEnv* env, jclass, jint interruptHandle)
{
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI disableInterrupts";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
INTERRUPTJNI_LOG(logDEBUG)
<< "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
int32_t status = 0;
HAL_DisableInterrupts((HAL_InterruptHandle)interruptHandle, &status);
@@ -223,16 +232,20 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterrupts(
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: readInterruptRisingTimestamp
* Signature: (J)D
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterruptRisingTimestamp(
JNIEnv* env, jclass, jint interruptHandle) {
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readInterruptRisingTimestamp";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterruptRisingTimestamp
(JNIEnv* env, jclass, jint interruptHandle)
{
INTERRUPTJNI_LOG(logDEBUG)
<< "Calling INTERRUPTJNI readInterruptRisingTimestamp";
INTERRUPTJNI_LOG(logDEBUG)
<< "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
int32_t status = 0;
jdouble timeStamp = HAL_ReadInterruptRisingTimestamp((HAL_InterruptHandle)interruptHandle, &status);
jdouble timeStamp = HAL_ReadInterruptRisingTimestamp(
(HAL_InterruptHandle)interruptHandle, &status);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
@@ -242,16 +255,20 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterruptRisingTimestamp(
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: readInterruptFallingTimestamp
* Signature: (J)D
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterruptFallingTimestamp(
JNIEnv* env, jclass, jint interruptHandle) {
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readInterruptFallingTimestamp";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterruptFallingTimestamp
(JNIEnv* env, jclass, jint interruptHandle)
{
INTERRUPTJNI_LOG(logDEBUG)
<< "Calling INTERRUPTJNI readInterruptFallingTimestamp";
INTERRUPTJNI_LOG(logDEBUG)
<< "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
int32_t status = 0;
jdouble timeStamp = HAL_ReadInterruptFallingTimestamp((HAL_InterruptHandle)interruptHandle, &status);
jdouble timeStamp = HAL_ReadInterruptFallingTimestamp(
(HAL_InterruptHandle)interruptHandle, &status);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
@@ -264,17 +281,20 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterruptFallingTimestamp(
* Signature: (III)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_requestInterrupts(
JNIEnv* env, jclass, jint interruptHandle, jint digitalSourceHandle,
jint analogTriggerType) {
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_requestInterrupts
(JNIEnv* env, jclass, jint interruptHandle, jint digitalSourceHandle,
jint analogTriggerType)
{
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI requestInterrupts";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
INTERRUPTJNI_LOG(logDEBUG)
<< "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
INTERRUPTJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle;
INTERRUPTJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType;
int32_t status = 0;
HAL_RequestInterrupts((HAL_InterruptHandle)interruptHandle, (HAL_Handle)digitalSourceHandle,
(HAL_AnalogTriggerType)analogTriggerType, &status);
HAL_RequestInterrupts((HAL_InterruptHandle)interruptHandle,
(HAL_Handle)digitalSourceHandle,
(HAL_AnalogTriggerType)analogTriggerType, &status);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
@@ -283,15 +303,15 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_requestInterrupts(
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: attachInterruptHandler
* Signature:
* (JLedu/wpi/first/wpilibj/hal/InterruptJNI/InterruptHandlerFunction;Ljava/nio/ByteBuffer;)V
* Signature: (ILjava/lang/Object;Ljava/lang/Object;)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler(
JNIEnv* env, jclass, jint interruptHandle, jobject handler,
jobject param) {
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler
(JNIEnv* env, jclass, jint interruptHandle, jobject handler, jobject param)
{
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI attachInterruptHandler";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
INTERRUPTJNI_LOG(logDEBUG)
<< "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
jclass cls = env->GetObjectClass(handler);
INTERRUPTJNI_LOG(logDEBUG) << "class = " << cls;
@@ -315,8 +335,8 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler(
INTERRUPTJNI_LOG(logDEBUG) << "InterruptThreadJNI Ptr = " << intr;
int32_t status = 0;
HAL_AttachInterruptHandler((HAL_InterruptHandle)interruptHandle, interruptHandler, intr,
&status);
HAL_AttachInterruptHandler((HAL_InterruptHandle)interruptHandle,
interruptHandler, intr, &status);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
@@ -325,20 +345,24 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler(
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: setInterruptUpSourceEdge
* Signature: (JZZ)V
* Signature: (IZZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_setInterruptUpSourceEdge(
JNIEnv* env, jclass, jint interruptHandle, jboolean risingEdge,
jboolean fallingEdge) {
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_setInterruptUpSourceEdge
(JNIEnv* env, jclass, jint interruptHandle, jboolean risingEdge,
jboolean fallingEdge)
{
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI setInterruptUpSourceEdge";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
INTERRUPTJNI_LOG(logDEBUG) << "Rising Edge = " << (bool)risingEdge;
INTERRUPTJNI_LOG(logDEBUG) << "Falling Edge = " << (bool)fallingEdge;
INTERRUPTJNI_LOG(logDEBUG)
<< "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
INTERRUPTJNI_LOG(logDEBUG)
<< "Rising Edge = " << static_cast<bool>(risingEdge);
INTERRUPTJNI_LOG(logDEBUG)
<< "Falling Edge = " << static_cast<bool>(fallingEdge);
int32_t status = 0;
HAL_SetInterruptUpSourceEdge((HAL_InterruptHandle)interruptHandle, risingEdge, fallingEdge,
&status);
HAL_SetInterruptUpSourceEdge((HAL_InterruptHandle)interruptHandle, risingEdge,
fallingEdge, &status);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);

50
hal/src/main/native/cpp/jni/NotifierJNI.cpp
View File

@@ -1,16 +1,18 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "HAL/Notifier.h"
#include <assert.h>
#include <jni.h>
#include <stdio.h>
#include "HALUtil.h"
#include <cassert>
#include <cstdio>
#include "HAL/Notifier.h"
#include "HAL/cpp/Log.h"
#include "HALUtil.h"
#include "edu_wpi_first_wpilibj_hal_NotifierJNI.h"
using namespace frc;
@@ -22,7 +24,7 @@ TLogLevel notifierJNILogLevel = logWARNING;
if (level > notifierJNILogLevel) \
; \
else \
Log().Get(level)
Log().Get(level)
extern "C" {
@@ -32,8 +34,9 @@ extern "C" {
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_NotifierJNI_initializeNotifier(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_NotifierJNI_initializeNotifier
(JNIEnv* env, jclass)
{
NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI initializeNotifier";
int32_t status = 0;
@@ -43,7 +46,7 @@ Java_edu_wpi_first_wpilibj_hal_NotifierJNI_initializeNotifier(
NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
if (notifierHandle <= 0 || !CheckStatusForceThrow(env, status)) {
return 0; // something went wrong in HAL
return 0; // something went wrong in HAL
}
return (jint)notifierHandle;
@@ -55,8 +58,9 @@ Java_edu_wpi_first_wpilibj_hal_NotifierJNI_initializeNotifier(
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_NotifierJNI_stopNotifier(
JNIEnv *env, jclass cls, jint notifierHandle) {
Java_edu_wpi_first_wpilibj_hal_NotifierJNI_stopNotifier
(JNIEnv* env, jclass cls, jint notifierHandle)
{
NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI stopNotifier";
NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
@@ -72,8 +76,10 @@ Java_edu_wpi_first_wpilibj_hal_NotifierJNI_stopNotifier(
* Method: cleanNotifier
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_NotifierJNI_cleanNotifier(
JNIEnv *env, jclass, jint notifierHandle) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_NotifierJNI_cleanNotifier
(JNIEnv* env, jclass, jint notifierHandle)
{
NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI cleanNotifier";
NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
@@ -90,8 +96,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_NotifierJNI_cleanNotifier(
* Signature: (IJ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_NotifierJNI_updateNotifierAlarm(
JNIEnv *env, jclass cls, jint notifierHandle, jlong triggerTime) {
Java_edu_wpi_first_wpilibj_hal_NotifierJNI_updateNotifierAlarm
(JNIEnv* env, jclass cls, jint notifierHandle, jlong triggerTime)
{
NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI updateNotifierAlarm";
NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
@@ -99,7 +106,8 @@ Java_edu_wpi_first_wpilibj_hal_NotifierJNI_updateNotifierAlarm(
NOTIFIERJNI_LOG(logDEBUG) << "triggerTime = " << triggerTime;
int32_t status = 0;
HAL_UpdateNotifierAlarm((HAL_NotifierHandle)notifierHandle, (uint64_t)triggerTime, &status);
HAL_UpdateNotifierAlarm((HAL_NotifierHandle)notifierHandle,
static_cast<uint64_t>(triggerTime), &status);
NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -110,8 +118,9 @@ Java_edu_wpi_first_wpilibj_hal_NotifierJNI_updateNotifierAlarm(
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_NotifierJNI_cancelNotifierAlarm(
JNIEnv *env, jclass cls, jint notifierHandle) {
Java_edu_wpi_first_wpilibj_hal_NotifierJNI_cancelNotifierAlarm
(JNIEnv* env, jclass cls, jint notifierHandle)
{
NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI cancelNotifierAlarm";
NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
@@ -128,8 +137,9 @@ Java_edu_wpi_first_wpilibj_hal_NotifierJNI_cancelNotifierAlarm(
* Signature: (I)J
*/
JNIEXPORT jlong JNICALL
Java_edu_wpi_first_wpilibj_hal_NotifierJNI_waitForNotifierAlarm(
JNIEnv *env, jclass cls, jint notifierHandle) {
Java_edu_wpi_first_wpilibj_hal_NotifierJNI_waitForNotifierAlarm
(JNIEnv* env, jclass cls, jint notifierHandle)
{
NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI waitForNotifierAlarm";
NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;

128
hal/src/main/native/cpp/jni/OSSerialPortJNI.cpp
View File

@@ -1,19 +1,20 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <assert.h>
#include <jni.h>
#include "HAL/cpp/Log.h"
#include "edu_wpi_first_wpilibj_hal_OSSerialPortJNI.h"
#include <cassert>
#include <wpi/jni_util.h>
#include "HAL/OSSerialPort.h"
#include "HAL/cpp/Log.h"
#include "HALUtil.h"
#include "wpi/jni_util.h"
#include "edu_wpi_first_wpilibj_hal_OSSerialPortJNI.h"
using namespace frc;
using namespace wpi::java;
@@ -25,7 +26,7 @@ TLogLevel osserialJNILogLevel = logWARNING;
if (level > osserialJNILogLevel) \
; \
else \
Log().Get(level)
Log().Get(level)
extern "C" {
@@ -35,8 +36,9 @@ extern "C" {
* Signature: (B)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialInitializePort(
JNIEnv* env, jclass, jbyte port) {
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialInitializePort
(JNIEnv* env, jclass, jbyte port)
{
SERIALJNI_LOG(logDEBUG) << "Calling Serial Initialize";
SERIALJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
@@ -51,8 +53,9 @@ Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialInitializePort(
* Signature: (BI)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetBaudRate(
JNIEnv* env, jclass, jbyte port, jint rate) {
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetBaudRate
(JNIEnv* env, jclass, jbyte port, jint rate)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Baud Rate";
SERIALJNI_LOG(logDEBUG) << "Baud: " << rate;
int32_t status = 0;
@@ -67,8 +70,9 @@ Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetBaudRate(
* Signature: (BB)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetDataBits(
JNIEnv* env, jclass, jbyte port, jbyte bits) {
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetDataBits
(JNIEnv* env, jclass, jbyte port, jbyte bits)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Data Bits";
SERIALJNI_LOG(logDEBUG) << "Data Bits: " << bits;
int32_t status = 0;
@@ -83,8 +87,9 @@ Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetDataBits(
* Signature: (BB)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetParity(
JNIEnv* env, jclass, jbyte port, jbyte parity) {
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetParity
(JNIEnv* env, jclass, jbyte port, jbyte parity)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Parity";
SERIALJNI_LOG(logDEBUG) << "Parity: " << parity;
int32_t status = 0;
@@ -99,8 +104,9 @@ Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetParity(
* Signature: (BB)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetStopBits(
JNIEnv* env, jclass, jbyte port, jbyte bits) {
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetStopBits
(JNIEnv* env, jclass, jbyte port, jbyte bits)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Stop Bits";
SERIALJNI_LOG(logDEBUG) << "Stop Bits: " << bits;
int32_t status = 0;
@@ -115,8 +121,9 @@ Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetStopBits(
* Signature: (BB)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetWriteMode(
JNIEnv* env, jclass, jbyte port, jbyte mode) {
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetWriteMode
(JNIEnv* env, jclass, jbyte port, jbyte mode)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Mode";
SERIALJNI_LOG(logDEBUG) << "Write mode: " << mode;
int32_t status = 0;
@@ -131,8 +138,9 @@ Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetWriteMode(
* Signature: (BB)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetFlowControl(
JNIEnv* env, jclass, jbyte port, jbyte flow) {
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetFlowControl
(JNIEnv* env, jclass, jbyte port, jbyte flow)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Flow Control";
SERIALJNI_LOG(logDEBUG) << "Flow Control: " << flow;
int32_t status = 0;
@@ -147,8 +155,9 @@ Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetFlowControl(
* Signature: (BD)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetTimeout(
JNIEnv* env, jclass, jbyte port, jdouble timeout) {
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetTimeout
(JNIEnv* env, jclass, jbyte port, jdouble timeout)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Timeout";
SERIALJNI_LOG(logDEBUG) << "Timeout: " << timeout;
int32_t status = 0;
@@ -163,12 +172,14 @@ Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetTimeout(
* Signature: (BC)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialEnableTermination(
JNIEnv* env, jclass, jbyte port, jchar terminator) {
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialEnableTermination
(JNIEnv* env, jclass, jbyte port, jchar terminator)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Enable Termination";
SERIALJNI_LOG(logDEBUG) << "Terminator: " << terminator;
int32_t status = 0;
HAL_EnableOSSerialTermination(static_cast<HAL_SerialPort>(port), terminator, &status);
HAL_EnableOSSerialTermination(static_cast<HAL_SerialPort>(port), terminator,
&status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -179,8 +190,9 @@ Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialEnableTermination(
* Signature: (B)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialDisableTermination(
JNIEnv* env, jclass, jbyte port) {
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialDisableTermination
(JNIEnv* env, jclass, jbyte port)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Disable termination";
int32_t status = 0;
HAL_DisableOSSerialTermination(static_cast<HAL_SerialPort>(port), &status);
@@ -194,12 +206,14 @@ Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialDisableTermination(
* Signature: (BI)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetReadBufferSize(
JNIEnv* env, jclass, jbyte port, jint size) {
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetReadBufferSize
(JNIEnv* env, jclass, jbyte port, jint size)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Read Buffer Size";
SERIALJNI_LOG(logDEBUG) << "Size: " << size;
int32_t status = 0;
HAL_SetOSSerialReadBufferSize(static_cast<HAL_SerialPort>(port), size, &status);
HAL_SetOSSerialReadBufferSize(static_cast<HAL_SerialPort>(port), size,
&status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -210,12 +224,14 @@ Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetReadBufferSize(
* Signature: (BI)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetWriteBufferSize(
JNIEnv* env, jclass, jbyte port, jint size) {
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetWriteBufferSize
(JNIEnv* env, jclass, jbyte port, jint size)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Buffer Size";
SERIALJNI_LOG(logDEBUG) << "Size: " << size;
int32_t status = 0;
HAL_SetOSSerialWriteBufferSize(static_cast<HAL_SerialPort>(port), size, &status);
HAL_SetOSSerialWriteBufferSize(static_cast<HAL_SerialPort>(port), size,
&status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -226,11 +242,13 @@ Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetWriteBufferSize(
* Signature: (B)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialGetBytesReceived(
JNIEnv* env, jclass, jbyte port) {
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialGetBytesReceived
(JNIEnv* env, jclass, jbyte port)
{
SERIALJNI_LOG(logDEBUG) << "Serial Get Bytes Received";
int32_t status = 0;
jint retVal = HAL_GetOSSerialBytesReceived(static_cast<HAL_SerialPort>(port), &status);
jint retVal =
HAL_GetOSSerialBytesReceived(static_cast<HAL_SerialPort>(port), &status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
return retVal;
@@ -241,16 +259,18 @@ Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialGetBytesReceived(
* Method: serialRead
* Signature: (B[BI)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialRead(
JNIEnv* env, jclass, jbyte port, jbyteArray dataReceived, jint size) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialRead
(JNIEnv* env, jclass, jbyte port, jbyteArray dataReceived, jint size)
{
SERIALJNI_LOG(logDEBUG) << "Serial Read";
wpi::SmallVector<char, 128> recvBuf;
recvBuf.resize(size);
int32_t status = 0;
jint retVal = HAL_ReadOSSerial(static_cast<HAL_SerialPort>(port), recvBuf.data(),
size, &status);
jint retVal = HAL_ReadOSSerial(static_cast<HAL_SerialPort>(port),
recvBuf.data(), size, &status);
env->SetByteArrayRegion(dataReceived, 0, size,
reinterpret_cast<const jbyte *>(recvBuf.data()));
reinterpret_cast<const jbyte*>(recvBuf.data()));
SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
@@ -262,13 +282,15 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialRead
* Method: serialWrite
* Signature: (B[BI)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialWrite(
JNIEnv* env, jclass, jbyte port, jbyteArray dataToSend, jint size) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialWrite
(JNIEnv* env, jclass, jbyte port, jbyteArray dataToSend, jint size)
{
SERIALJNI_LOG(logDEBUG) << "Serial Write";
int32_t status = 0;
jint retVal =
HAL_WriteOSSerial(static_cast<HAL_SerialPort>(port),
reinterpret_cast<const char *>(
reinterpret_cast<const char*>(
JByteArrayRef(env, dataToSend).array().data()),
size, &status);
SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
@@ -282,8 +304,10 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialWrit
* Method: serialFlush
* Signature: (B)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialFlush(
JNIEnv* env, jclass, jbyte port) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialFlush
(JNIEnv* env, jclass, jbyte port)
{
SERIALJNI_LOG(logDEBUG) << "Serial Flush";
int32_t status = 0;
HAL_FlushOSSerial(static_cast<HAL_SerialPort>(port), &status);
@@ -296,8 +320,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialFlus
* Method: serialClear
* Signature: (B)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialClear(
JNIEnv* env, jclass, jbyte port) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialClear
(JNIEnv* env, jclass, jbyte port)
{
SERIALJNI_LOG(logDEBUG) << "Serial Clear";
int32_t status = 0;
HAL_ClearOSSerial(static_cast<HAL_SerialPort>(port), &status);
@@ -310,8 +336,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialClea
* Method: serialClose
* Signature: (B)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialClose(
JNIEnv* env, jclass, jbyte port) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialClose
(JNIEnv* env, jclass, jbyte port)
{
SERIALJNI_LOG(logDEBUG) << "Serial Close";
int32_t status = 0;
HAL_CloseOSSerial(static_cast<HAL_SerialPort>(port), &status);

75
hal/src/main/native/cpp/jni/PDPJNI.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,11 +16,13 @@ extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_PDPJNI
* Method: getPDPTemperature
* Method: initializePDP
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_initializePDP(
JNIEnv *env, jclass, jint module) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_initializePDP
(JNIEnv* env, jclass, jint module)
{
int32_t status = 0;
HAL_InitializePDP(module, &status);
CheckStatusRange(env, status, 0, HAL_GetNumPDPModules(), module);
@@ -29,20 +31,24 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_initializePDP(
/*
* Class: edu_wpi_first_wpilibj_hal_PDPJNI
* Method: checkPDPChannel
* Signature: (I)Z;
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_checkPDPChannel(
JNIEnv *env, jclass, jint channel) {
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_checkPDPChannel
(JNIEnv* env, jclass, jint channel)
{
return HAL_CheckPDPChannel(channel);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PDPJNI
* Method: checkPDPModule
* Signature: (I)Z;
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_checkPDPModule(
JNIEnv *env, jclass, jint module) {
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_checkPDPModule
(JNIEnv* env, jclass, jint module)
{
return HAL_CheckPDPModule(module);
}
@@ -52,8 +58,9 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_checkPDPModule(
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTemperature(
JNIEnv *env, jclass, jint module) {
Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTemperature
(JNIEnv* env, jclass, jint module)
{
int32_t status = 0;
double temperature = HAL_GetPDPTemperature(module, &status);
CheckStatus(env, status, false);
@@ -65,8 +72,10 @@ Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTemperature(
* Method: getPDPVoltage
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPVoltage(
JNIEnv *env, jclass, jint module) {
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPVoltage
(JNIEnv* env, jclass, jint module)
{
int32_t status = 0;
double voltage = HAL_GetPDPVoltage(module, &status);
CheckStatus(env, status, false);
@@ -79,8 +88,9 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPVoltage(
* Signature: (BI)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPChannelCurrent(
JNIEnv *env, jclass, jbyte channel, jint module) {
Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPChannelCurrent
(JNIEnv* env, jclass, jbyte channel, jint module)
{
int32_t status = 0;
double current = HAL_GetPDPChannelCurrent(module, channel, &status);
CheckStatus(env, status, false);
@@ -93,8 +103,9 @@ Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPChannelCurrent(
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalCurrent(
JNIEnv *env, jclass, jint module) {
Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalCurrent
(JNIEnv* env, jclass, jint module)
{
int32_t status = 0;
double current = HAL_GetPDPTotalCurrent(module, &status);
CheckStatus(env, status, false);
@@ -107,8 +118,9 @@ Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalCurrent(
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalPower(
JNIEnv *env, jclass, jint module) {
Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalPower
(JNIEnv* env, jclass, jint module)
{
int32_t status = 0;
double power = HAL_GetPDPTotalPower(module, &status);
CheckStatus(env, status, false);
@@ -117,12 +129,13 @@ Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalPower(
/*
* Class: edu_wpi_first_wpilibj_hal_PDPJNI
* Method: resetPDPTotalEnergy
* Method: getPDPTotalEnergy
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalEnergy(
JNIEnv *env, jclass, jint module) {
Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalEnergy
(JNIEnv* env, jclass, jint module)
{
int32_t status = 0;
double energy = HAL_GetPDPTotalEnergy(module, &status);
CheckStatus(env, status, false);
@@ -135,8 +148,9 @@ Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalEnergy(
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_resetPDPTotalEnergy(
JNIEnv *env, jclass, jint module) {
Java_edu_wpi_first_wpilibj_hal_PDPJNI_resetPDPTotalEnergy
(JNIEnv* env, jclass, jint module)
{
int32_t status = 0;
HAL_ResetPDPTotalEnergy(module, &status);
CheckStatus(env, status, false);
@@ -144,12 +158,13 @@ Java_edu_wpi_first_wpilibj_hal_PDPJNI_resetPDPTotalEnergy(
/*
* Class: edu_wpi_first_wpilibj_hal_PDPJNI
* Method: clearStickyFaults
* Method: clearPDPStickyFaults
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_PDPJNI_clearPDPStickyFaults(
JNIEnv *env, jclass, jint module) {
Java_edu_wpi_first_wpilibj_hal_PDPJNI_clearPDPStickyFaults
(JNIEnv* env, jclass, jint module)
{
int32_t status = 0;
HAL_ClearPDPStickyFaults(module, &status);
CheckStatus(env, status, false);

164
hal/src/main/native/cpp/jni/PWMJNI.cpp
View File

@@ -1,21 +1,21 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <assert.h>
#include <jni.h>
#include "HAL/cpp/Log.h"
#include "edu_wpi_first_wpilibj_hal_PWMJNI.h"
#include <cassert>
#include "HAL/DIO.h"
#include "HAL/PWM.h"
#include "HAL/Ports.h"
#include "HALUtil.h"
#include "HAL/cpp/Log.h"
#include "HAL/handles/HandlesInternal.h"
#include "HALUtil.h"
#include "edu_wpi_first_wpilibj_hal_PWMJNI.h"
using namespace frc;
@@ -26,18 +26,19 @@ TLogLevel pwmJNILogLevel = logWARNING;
if (level > pwmJNILogLevel) \
; \
else \
Log().Get(level)
Log().Get(level)
extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: initializePWMPort
* Signature: (I)I;
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_initializePWMPort(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_PWMJNI_initializePWMPort
(JNIEnv* env, jclass, jint id)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI initializePWMPort";
PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
int32_t status = 0;
@@ -52,22 +53,26 @@ Java_edu_wpi_first_wpilibj_hal_PWMJNI_initializePWMPort(
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: checkPWMChannel
* Signature: (I)Z;
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_checkPWMChannel(
JNIEnv *env, jclass, jint channel) {
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_checkPWMChannel
(JNIEnv* env, jclass, jint channel)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI checkPWMChannel";
PWMJNI_LOG(logDEBUG) << "Channel = " << channel;
return HAL_CheckPWMChannel(channel);
}
/*
* 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) {
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: freePWMPort
* 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 = " << (HAL_DigitalHandle)id;
int32_t status = 0;
@@ -76,44 +81,50 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWMPort(
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: setPWMConfigRaw
* Signature: (IIIIII)V;
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMConfigRaw(
JNIEnv *env, jclass, jint id, jint maxPwm, jint deadbandMaxPwm,
jint centerPwm, jint deadbandMinPwm, jint minPwm) {
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMConfigRaw
* Signature: (IIIIII)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMConfigRaw
(JNIEnv* env, jclass, jint id, jint maxPwm, jint deadbandMaxPwm,
jint centerPwm, jint deadbandMinPwm, jint minPwm)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMConfigRaw";
PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
HAL_SetPWMConfigRaw((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm,
deadbandMinPwm, minPwm, &status);
HAL_SetPWMConfigRaw((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm,
deadbandMinPwm, minPwm, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: setPWMConfig
* Signature: (IDDDDD)V;
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMConfig(
JNIEnv *env, jclass, jint id, jdouble maxPwm, jdouble deadbandMaxPwm,
jdouble centerPwm, jdouble deadbandMinPwm, jdouble minPwm) {
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMConfig
* Signature: (IDDDDD)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMConfig
(JNIEnv* env, jclass, jint id, jdouble maxPwm, jdouble deadbandMaxPwm,
jdouble centerPwm, jdouble deadbandMinPwm, jdouble minPwm)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMConfig";
PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
HAL_SetPWMConfig((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm,
deadbandMinPwm, minPwm, &status);
HAL_SetPWMConfig((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm,
deadbandMinPwm, minPwm, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: getPWMConfigRaw
* Signature: (I)Ledu/wpi/first/wpilibj/PWMConfigDataResult;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMConfigRaw(
JNIEnv *env, jclass, jint id) {
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: getPWMConfigRaw
* Signature: (I)Ljava/lang/Object;
*/
JNIEXPORT jobject JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMConfigRaw
(JNIEnv* env, jclass, jint id)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI getPWMConfigRaw";
PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
@@ -122,8 +133,8 @@ JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMConfigRaw(
int32_t centerPwm = 0;
int32_t deadbandMinPwm = 0;
int32_t minPwm = 0;
HAL_GetPWMConfigRaw((HAL_DigitalHandle)id, &maxPwm, &deadbandMaxPwm, &centerPwm,
&deadbandMinPwm, &minPwm, &status);
HAL_GetPWMConfigRaw((HAL_DigitalHandle)id, &maxPwm, &deadbandMaxPwm,
&centerPwm, &deadbandMinPwm, &minPwm, &status);
CheckStatus(env, status);
return CreatePWMConfigDataResult(env, maxPwm, deadbandMaxPwm, centerPwm,
deadbandMinPwm, minPwm);
@@ -134,8 +145,10 @@ JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMConfigRaw(
* Method: setPWMEliminateDeadband
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMEliminateDeadband(
JNIEnv* env, jclass, jint id, jboolean value) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMEliminateDeadband
(JNIEnv* env, jclass, jint id, jboolean value)
{
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
HAL_SetPWMEliminateDeadband((HAL_DigitalHandle)id, value, &status);
@@ -148,8 +161,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMEliminateDead
* Method: getPWMEliminateDeadband
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMEliminateDeadband(
JNIEnv* env, jclass, jint id) {
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMEliminateDeadband
(JNIEnv* env, jclass, jint id)
{
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
auto val = HAL_GetPWMEliminateDeadband((HAL_DigitalHandle)id, &status);
@@ -163,8 +178,10 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMEliminate
* Method: setPWMRaw
* Signature: (IS)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRaw(
JNIEnv* env, jclass, jint id, jshort value) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRaw
(JNIEnv* env, jclass, jint id, jshort value)
{
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
int32_t status = 0;
@@ -178,8 +195,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRaw(
* Method: setPWMSpeed
* Signature: (ID)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMSpeed(
JNIEnv* env, jclass, jint id, jdouble value) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMSpeed
(JNIEnv* env, jclass, jint id, jdouble value)
{
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
int32_t status = 0;
@@ -193,8 +212,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMSpeed(
* Method: setPWMPosition
* Signature: (ID)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPosition(
JNIEnv* env, jclass, jint id, jdouble value) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPosition
(JNIEnv* env, jclass, jint id, jdouble value)
{
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
int32_t status = 0;
@@ -209,8 +230,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPosition(
* Signature: (I)S
*/
JNIEXPORT jshort JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMRaw(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMRaw
(JNIEnv* env, jclass, jint id)
{
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
jshort returnValue = HAL_GetPWMRaw((HAL_DigitalHandle)id, &status);
@@ -226,8 +248,9 @@ Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMRaw(
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMSpeed(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMSpeed
(JNIEnv* env, jclass, jint id)
{
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
jdouble returnValue = HAL_GetPWMSpeed((HAL_DigitalHandle)id, &status);
@@ -243,8 +266,9 @@ Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMSpeed(
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMPosition(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMPosition
(JNIEnv* env, jclass, jint id)
{
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
jdouble returnValue = HAL_GetPWMPosition((HAL_DigitalHandle)id, &status);
@@ -259,8 +283,10 @@ Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMPosition(
* Method: setPWMDisabled
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDisabled(
JNIEnv* env, jclass, jint id) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDisabled
(JNIEnv* env, jclass, jint id)
{
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
HAL_SetPWMDisabled((HAL_DigitalHandle)id, &status);
@@ -273,8 +299,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDisabled(
* Method: latchPWMZero
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_latchPWMZero(
JNIEnv* env, jclass, jint id) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_latchPWMZero
(JNIEnv* env, jclass, jint id)
{
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
HAL_LatchPWMZero((HAL_DigitalHandle)id, &status);
@@ -287,8 +315,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_latchPWMZero(
* Method: setPWMPeriodScale
* Signature: (II)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPeriodScale(
JNIEnv* env, jclass, jint id, jint value) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPeriodScale
(JNIEnv* env, jclass, jint id, jint value)
{
PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
PWMJNI_LOG(logDEBUG) << "PeriodScale Value = " << value;
int32_t status = 0;

123
hal/src/main/native/cpp/jni/PortsJNI.cpp
View File

@@ -1,18 +1,18 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <assert.h>
#include <jni.h>
#include "HAL/cpp/Log.h"
#include "edu_wpi_first_wpilibj_hal_PortsJNI.h"
#include <cassert>
#include "HAL/Ports.h"
#include "HAL/cpp/Log.h"
#include "HALUtil.h"
#include "edu_wpi_first_wpilibj_hal_PortsJNI.h"
using namespace frc;
@@ -21,9 +21,9 @@ TLogLevel portsJNILogLevel = logWARNING;
#define PORTSJNI_LOG(level) \
if (level > portsJNILogLevel) \
; \
else \
Log().Get(level)
; \
else \
Log().Get(level)
extern "C" {
/*
@@ -32,266 +32,267 @@ extern "C" {
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAccumulators(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAccumulators
(JNIEnv* env, jclass)
{
PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAccumulators";
jint value = HAL_GetNumAccumulators();
PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PortsJNI
* Method: getNumAnalogTriggers
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAnalogTriggers(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAnalogTriggers
(JNIEnv* env, jclass)
{
PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAnalogTriggers";
jint value = HAL_GetNumAnalogTriggers();
PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PortsJNI
* Method: getNumAnalogInputs
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAnalogInputs(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAnalogInputs
(JNIEnv* env, jclass)
{
PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAnalogInputs";
jint value = HAL_GetNumAnalogInputs();
PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PortsJNI
* Method: getNumAnalogOutputs
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAnalogOutputs(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAnalogOutputs
(JNIEnv* env, jclass)
{
PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAnalogOutputs";
jint value = HAL_GetNumAnalogOutputs();
PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PortsJNI
* Method: getNumCounters
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumCounters(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumCounters
(JNIEnv* env, jclass)
{
PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumCounters";
jint value = HAL_GetNumCounters();
PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PortsJNI
* Method: getNumDigitalHeaders
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumDigitalHeaders(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumDigitalHeaders
(JNIEnv* env, jclass)
{
PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumDigitalHeaders";
jint value = HAL_GetNumDigitalHeaders();
PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PortsJNI
* Method: getNumPWMHeaders
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPWMHeaders(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPWMHeaders
(JNIEnv* env, jclass)
{
PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPWMHeaders";
jint value = HAL_GetNumPWMHeaders();
PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PortsJNI
* Method: getNumDigitalChannels
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumDigitalChannels(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumDigitalChannels
(JNIEnv* env, jclass)
{
PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumDigitalChannels";
jint value = HAL_GetNumDigitalChannels();
PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PortsJNI
* Method: getNumPWMChannels
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPWMChannels(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPWMChannels
(JNIEnv* env, jclass)
{
PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPWMChannels";
jint value = HAL_GetNumPWMChannels();
PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PortsJNI
* Method: getNumDigitalPWMOutputs
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumDigitalPWMOutputs(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumDigitalPWMOutputs
(JNIEnv* env, jclass)
{
PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumDigitalPWMOutputs";
jint value = HAL_GetNumDigitalPWMOutputs();
PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PortsJNI
* Method: getNumEncoders
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumEncoders(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumEncoders
(JNIEnv* env, jclass)
{
PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumEncoders";
jint value = HAL_GetNumEncoders();
PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PortsJNI
* Method: getNumInterrupts
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumInterrupts(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumInterrupts
(JNIEnv* env, jclass)
{
PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumInterrupts";
jint value = HAL_GetNumInterrupts();
PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PortsJNI
* Method: getNumRelayChannels
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumRelayChannels(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumRelayChannels
(JNIEnv* env, jclass)
{
PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumRelayChannels";
jint value = HAL_GetNumRelayChannels();
PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PortsJNI
* Method: getNumRelayHeaders
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumRelayHeaders(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumRelayHeaders
(JNIEnv* env, jclass)
{
PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumRelayHeaders";
jint value = HAL_GetNumRelayHeaders();
PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PortsJNI
* Method: getNumPCMModules
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPCMModules(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPCMModules
(JNIEnv* env, jclass)
{
PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPCMModules";
jint value = HAL_GetNumPCMModules();
PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PortsJNI
* Method: getNumSolenoidChannels
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumSolenoidChannels(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumSolenoidChannels
(JNIEnv* env, jclass)
{
PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumSolenoidChannels";
jint value = HAL_GetNumSolenoidChannels();
PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PortsJNI
* Method: getNumPDPModules
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPDPModules(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPDPModules
(JNIEnv* env, jclass)
{
PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPDPModules";
jint value = HAL_GetNumPDPModules();
PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PortsJNI
* Method: getNumPDPChannels
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPDPChannels(
JNIEnv *env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPDPChannels
(JNIEnv* env, jclass)
{
PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPDPChannels";
jint value = HAL_GetNumPDPChannels();
PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
}
} // extern "C"

64
hal/src/main/native/cpp/jni/PowerJNI.cpp
View File

@@ -1,12 +1,13 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "HAL/Power.h"
#include <jni.h>
#include "HAL/Power.h"
#include "HALUtil.h"
#include "edu_wpi_first_wpilibj_hal_PowerJNI.h"
@@ -20,7 +21,9 @@ extern "C" {
* Signature: ()D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getVinVoltage(JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getVinVoltage
(JNIEnv* env, jclass)
{
int32_t status = 0;
double val = HAL_GetVinVoltage(&status);
CheckStatus(env, status);
@@ -33,7 +36,9 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getVinVoltage(JNIEnv* env, jclass) {
* Signature: ()D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getVinCurrent(JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getVinCurrent
(JNIEnv* env, jclass)
{
int32_t status = 0;
double val = HAL_GetVinCurrent(&status);
CheckStatus(env, status);
@@ -46,7 +51,9 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getVinCurrent(JNIEnv* env, jclass) {
* Signature: ()D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage6V(JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage6V
(JNIEnv* env, jclass)
{
int32_t status = 0;
double val = HAL_GetUserVoltage6V(&status);
CheckStatus(env, status);
@@ -59,7 +66,9 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage6V(JNIEnv* env, jclass) {
* Signature: ()D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent6V(JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent6V
(JNIEnv* env, jclass)
{
int32_t status = 0;
double val = HAL_GetUserCurrent6V(&status);
CheckStatus(env, status);
@@ -72,7 +81,9 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent6V(JNIEnv* env, jclass) {
* Signature: ()Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserActive6V(JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserActive6V
(JNIEnv* env, jclass)
{
int32_t status = 0;
bool val = HAL_GetUserActive6V(&status);
CheckStatus(env, status);
@@ -85,8 +96,9 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserActive6V(JNIEnv* env, jclass) {
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults6V(
JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults6V
(JNIEnv* env, jclass)
{
int32_t status = 0;
int32_t val = HAL_GetUserCurrentFaults6V(&status);
CheckStatus(env, status);
@@ -99,7 +111,9 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults6V(
* Signature: ()D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage5V(JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage5V
(JNIEnv* env, jclass)
{
int32_t status = 0;
double val = HAL_GetUserVoltage5V(&status);
CheckStatus(env, status);
@@ -112,7 +126,9 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage5V(JNIEnv* env, jclass) {
* Signature: ()D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent5V(JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent5V
(JNIEnv* env, jclass)
{
int32_t status = 0;
double val = HAL_GetUserCurrent5V(&status);
CheckStatus(env, status);
@@ -125,7 +141,9 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent5V(JNIEnv* env, jclass) {
* Signature: ()Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserActive5V(JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserActive5V
(JNIEnv* env, jclass)
{
int32_t status = 0;
bool val = HAL_GetUserActive5V(&status);
CheckStatus(env, status);
@@ -138,8 +156,9 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserActive5V(JNIEnv* env, jclass) {
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults5V(
JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults5V
(JNIEnv* env, jclass)
{
int32_t status = 0;
int32_t val = HAL_GetUserCurrentFaults5V(&status);
CheckStatus(env, status);
@@ -152,7 +171,9 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults5V(
* Signature: ()D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage3V3(JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage3V3
(JNIEnv* env, jclass)
{
int32_t status = 0;
double val = HAL_GetUserVoltage3V3(&status);
CheckStatus(env, status);
@@ -165,7 +186,9 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage3V3(JNIEnv* env, jclass) {
* Signature: ()D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent3V3(JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent3V3
(JNIEnv* env, jclass)
{
int32_t status = 0;
double val = HAL_GetUserCurrent3V3(&status);
CheckStatus(env, status);
@@ -178,7 +201,9 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent3V3(JNIEnv* env, jclass) {
* Signature: ()Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserActive3V3(JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserActive3V3
(JNIEnv* env, jclass)
{
int32_t status = 0;
bool val = HAL_GetUserActive3V3(&status);
CheckStatus(env, status);
@@ -191,8 +216,9 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserActive3V3(JNIEnv* env, jclass) {
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults3V3(
JNIEnv* env, jclass) {
Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults3V3
(JNIEnv* env, jclass)
{
int32_t status = 0;
int32_t val = HAL_GetUserCurrentFaults3V3(&status);
CheckStatus(env, status);

68
hal/src/main/native/cpp/jni/RelayJNI.cpp
View File

@@ -1,20 +1,20 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <assert.h>
#include <jni.h>
#include "HAL/cpp/Log.h"
#include "edu_wpi_first_wpilibj_hal_RelayJNI.h"
#include <cassert>
#include "HAL/Relay.h"
#include "HAL/Ports.h"
#include "HALUtil.h"
#include "HAL/Relay.h"
#include "HAL/cpp/Log.h"
#include "HAL/handles/HandlesInternal.h"
#include "HALUtil.h"
#include "edu_wpi_first_wpilibj_hal_RelayJNI.h"
using namespace frc;
@@ -25,51 +25,58 @@ TLogLevel relayJNILogLevel = logWARNING;
if (level > relayJNILogLevel) \
; \
else \
Log().Get(level)
Log().Get(level)
extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_RelayJNI
* Method: initializeRelayPort
* Signature: (IZ)I;
* Signature: (IZ)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_initializeRelayPort(
JNIEnv* env, jclass, jint id, jboolean fwd) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_RelayJNI_initializeRelayPort
(JNIEnv* env, jclass, jint id, jboolean fwd)
{
RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI initializeRelayPort";
RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
RELAYJNI_LOG(logDEBUG) << "Forward = " << (jint)fwd;
int32_t status = 0;
HAL_RelayHandle handle = HAL_InitializeRelayPort((HAL_PortHandle)id, (uint8_t) fwd, &status);
HAL_RelayHandle handle = HAL_InitializeRelayPort(
(HAL_PortHandle)id, static_cast<uint8_t>(fwd), &status);
RELAYJNI_LOG(logDEBUG) << "Status = " << status;
RELAYJNI_LOG(logDEBUG) << "Relay Handle = " << handle;
CheckStatusRange(env, status, 0, HAL_GetNumRelayChannels(),
hal::getPortHandleChannel((HAL_PortHandle)id));
return (jint) handle;
return (jint)handle;
}
/*
* Class: edu_wpi_first_wpilibj_hal_RelayJNI
* Method: freeRelayPort
* Signature: (I)V;
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_freeRelayPort(
JNIEnv *env, jclass, jint id) {
* Class: edu_wpi_first_wpilibj_hal_RelayJNI
* Method: freeRelayPort
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_RelayJNI_freeRelayPort
(JNIEnv* env, jclass, jint id)
{
RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI freeRelayPort";
RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_RelayHandle)id;
HAL_FreeRelayPort((HAL_RelayHandle)id);
}
/*
* Class: edu_wpi_first_wpilibj_hal_RelayJNI
* Method: checkRelayChannel
* Signature: (I)Z;
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_checkRelayChannel(
JNIEnv *env, jclass, jint channel) {
* Class: edu_wpi_first_wpilibj_hal_RelayJNI
* Method: checkRelayChannel
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_RelayJNI_checkRelayChannel
(JNIEnv* env, jclass, jint channel)
{
RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI checkRelayChannel";
RELAYJNI_LOG(logDEBUG) << "Channel = " << channel;
return (jboolean)HAL_CheckRelayChannel((uint8_t) channel);
return (jboolean)HAL_CheckRelayChannel(static_cast<uint8_t>(channel));
}
/*
@@ -77,8 +84,10 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_checkRelayCha
* Method: setRelay
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_setRelay(
JNIEnv* env, jclass, jint id, jboolean value) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_RelayJNI_setRelay
(JNIEnv* env, jclass, jint id, jboolean value)
{
RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI setRelay";
RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_RelayHandle)id;
RELAYJNI_LOG(logDEBUG) << "Flag = " << (jint)value;
@@ -94,8 +103,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_setRelay(
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_RelayJNI_getRelay(
JNIEnv* env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_RelayJNI_getRelay
(JNIEnv* env, jclass, jint id)
{
RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI getRelay";
RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_RelayHandle)id;
int32_t status = 0;

226
hal/src/main/native/cpp/jni/SPIJNI.cpp
View File

@@ -1,19 +1,20 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <assert.h>
#include <jni.h>
#include "HAL/cpp/Log.h"
#include "edu_wpi_first_wpilibj_hal_SPIJNI.h"
#include <cassert>
#include <wpi/jni_util.h>
#include "HAL/SPI.h"
#include "HAL/cpp/Log.h"
#include "HALUtil.h"
#include "wpi/jni_util.h"
#include "edu_wpi_first_wpilibj_hal_SPIJNI.h"
using namespace frc;
using namespace wpi::java;
@@ -25,7 +26,7 @@ TLogLevel spiJNILogLevel = logWARNING;
if (level > spiJNILogLevel) \
; \
else \
Log().Get(level)
Log().Get(level)
extern "C" {
@@ -34,8 +35,10 @@ extern "C" {
* Method: spiInitialize
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitialize(
JNIEnv *env, jclass, jint port) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitialize
(JNIEnv* env, jclass, jint port)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitialize";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
@@ -47,23 +50,27 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitialize(
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiTransaction
* Signature: (ILjava/nio/ByteBuffer;Ljava/nio/ByteBuffer;B)I
* Signature: (ILjava/lang/Object;Ljava/lang/Object;B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransaction(
JNIEnv *env, jclass, jint port, jobject dataToSend, jobject dataReceived,
jbyte size) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransaction
(JNIEnv* env, jclass, jint port, jobject dataToSend, jobject dataReceived,
jbyte size)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiTransaction";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
uint8_t *dataToSendPtr = nullptr;
uint8_t* dataToSendPtr = nullptr;
if (dataToSend != 0) {
dataToSendPtr = (uint8_t *)env->GetDirectBufferAddress(dataToSend);
dataToSendPtr =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataToSend));
}
uint8_t *dataReceivedPtr =
(uint8_t *)env->GetDirectBufferAddress(dataReceived);
uint8_t* dataReceivedPtr =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataReceived));
SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
jint retVal = HAL_TransactionSPI(static_cast<HAL_SPIPort>(port), dataToSendPtr, dataReceivedPtr, size);
jint retVal = HAL_TransactionSPI(static_cast<HAL_SPIPort>(port),
dataToSendPtr, dataReceivedPtr, size);
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
}
@@ -73,9 +80,11 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransaction(
* Method: spiTransactionB
* Signature: (I[B[BB)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransactionB(
JNIEnv *env, jclass, jint port, jbyteArray dataToSend, jbyteArray dataReceived,
jbyte size) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransactionB
(JNIEnv* env, jclass, jint port, jbyteArray dataToSend,
jbyteArray dataReceived, jbyte size)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiTransactionB";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
@@ -83,11 +92,11 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransactionB(
recvBuf.resize(size);
jint retVal =
HAL_TransactionSPI(static_cast<HAL_SPIPort>(port),
reinterpret_cast<const uint8_t *>(
reinterpret_cast<const uint8_t*>(
JByteArrayRef(env, dataToSend).array().data()),
recvBuf.data(), size);
env->SetByteArrayRegion(dataReceived, 0, size,
reinterpret_cast<const jbyte *>(recvBuf.data()));
reinterpret_cast<const jbyte*>(recvBuf.data()));
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
}
@@ -95,19 +104,23 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransactionB(
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiWrite
* Signature: (ILjava/nio/ByteBuffer;B)I
* Signature: (ILjava/lang/Object;B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWrite(
JNIEnv *env, jclass, jint port, jobject dataToSend, jbyte size) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWrite
(JNIEnv* env, jclass, jint port, jobject dataToSend, jbyte size)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiWrite";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
uint8_t *dataToSendPtr = nullptr;
uint8_t* dataToSendPtr = nullptr;
if (dataToSend != 0) {
dataToSendPtr = (uint8_t *)env->GetDirectBufferAddress(dataToSend);
dataToSendPtr =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataToSend));
}
SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
jint retVal = HAL_WriteSPI(static_cast<HAL_SPIPort>(port), dataToSendPtr, size);
jint retVal =
HAL_WriteSPI(static_cast<HAL_SPIPort>(port), dataToSendPtr, size);
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
}
@@ -117,13 +130,15 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWrite(
* Method: spiWriteB
* Signature: (I[BB)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWriteB(
JNIEnv *env, jclass, jint port, jbyteArray dataToSend, jbyte size) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWriteB
(JNIEnv* env, jclass, jint port, jbyteArray dataToSend, jbyte size)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiWriteB";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
jint retVal = HAL_WriteSPI(static_cast<HAL_SPIPort>(port),
reinterpret_cast<const uint8_t *>(
reinterpret_cast<const uint8_t*>(
JByteArrayRef(env, dataToSend).array().data()),
size);
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
@@ -133,24 +148,29 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWriteB(
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiRead
* Signature: (IZLjava/nio/ByteBuffer;B)I
* Signature: (IZLjava/lang/Object;B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiRead(
JNIEnv *env, jclass, jint port, jboolean initiate, jobject dataReceived, jbyte size) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiRead
(JNIEnv* env, jclass, jint port, jboolean initiate, jobject dataReceived,
jbyte size)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiRead";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
SPIJNI_LOG(logDEBUG) << "Initiate = " << (jboolean)initiate;
uint8_t *dataReceivedPtr =
(uint8_t *)env->GetDirectBufferAddress(dataReceived);
uint8_t* dataReceivedPtr =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataReceived));
SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
jint retVal;
if (initiate) {
wpi::SmallVector<uint8_t, 128> sendBuf;
sendBuf.resize(size);
retVal = HAL_TransactionSPI(static_cast<HAL_SPIPort>(port), sendBuf.data(), dataReceivedPtr, size);
retVal = HAL_TransactionSPI(static_cast<HAL_SPIPort>(port), sendBuf.data(),
dataReceivedPtr, size);
} else {
retVal = HAL_ReadSPI(static_cast<HAL_SPIPort>(port), (uint8_t *)dataReceivedPtr, size);
retVal = HAL_ReadSPI(static_cast<HAL_SPIPort>(port),
reinterpret_cast<uint8_t*>(dataReceivedPtr), size);
}
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
@@ -161,8 +181,11 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiRead(
* Method: spiReadB
* Signature: (IZ[BB)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadB(
JNIEnv *env, jclass, jint port, jboolean initiate, jbyteArray dataReceived, jbyte size) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadB
(JNIEnv* env, jclass, jint port, jboolean initiate, jbyteArray dataReceived,
jbyte size)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadB";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
SPIJNI_LOG(logDEBUG) << "Initiate = " << (jboolean)initiate;
@@ -173,12 +196,13 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadB(
if (initiate) {
wpi::SmallVector<uint8_t, 128> sendBuf;
sendBuf.resize(size);
retVal = HAL_TransactionSPI(static_cast<HAL_SPIPort>(port), sendBuf.data(), recvBuf.data(), size);
retVal = HAL_TransactionSPI(static_cast<HAL_SPIPort>(port), sendBuf.data(),
recvBuf.data(), size);
} else {
retVal = HAL_ReadSPI(static_cast<HAL_SPIPort>(port), recvBuf.data(), size);
}
env->SetByteArrayRegion(dataReceived, 0, size,
reinterpret_cast<const jbyte *>(recvBuf.data()));
reinterpret_cast<const jbyte*>(recvBuf.data()));
SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
}
@@ -189,7 +213,9 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadB(
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiClose(JNIEnv *, jclass, jint port) {
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiClose
(JNIEnv*, jclass, jint port)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiClose";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
HAL_CloseSPI(static_cast<HAL_SPIPort>(port));
@@ -200,8 +226,10 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiClose(JNIEnv *, jclass, jint port) {
* Method: spiSetSpeed
* Signature: (II)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetSpeed(
JNIEnv *, jclass, jint port, jint speed) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetSpeed
(JNIEnv*, jclass, jint port, jint speed)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetSpeed";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
SPIJNI_LOG(logDEBUG) << "Speed = " << (jint)speed;
@@ -213,15 +241,18 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetSpeed(
* Method: spiSetOpts
* Signature: (IIII)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetOpts(
JNIEnv *, jclass, jint port, jint msb_first, jint sample_on_trailing,
jint clk_idle_high) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetOpts
(JNIEnv*, jclass, jint port, jint msb_first, jint sample_on_trailing,
jint clk_idle_high)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetOpts";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
SPIJNI_LOG(logDEBUG) << "msb_first = " << msb_first;
SPIJNI_LOG(logDEBUG) << "sample_on_trailing = " << sample_on_trailing;
SPIJNI_LOG(logDEBUG) << "clk_idle_high = " << clk_idle_high;
HAL_SetSPIOpts(static_cast<HAL_SPIPort>(port), msb_first, sample_on_trailing, clk_idle_high);
HAL_SetSPIOpts(static_cast<HAL_SPIPort>(port), msb_first, sample_on_trailing,
clk_idle_high);
}
/*
@@ -230,8 +261,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetOpts(
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveHigh(
JNIEnv *env, jclass, jint port) {
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveHigh
(JNIEnv* env, jclass, jint port)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveHigh";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
@@ -246,8 +278,9 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveHigh(
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveLow(
JNIEnv *env, jclass, jint port) {
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveLow
(JNIEnv* env, jclass, jint port)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveLow";
SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
@@ -261,8 +294,10 @@ Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveLow(
* Method: spiInitAuto
* Signature: (II)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitAuto
(JNIEnv *env, jclass, jint port, jint bufferSize) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitAuto
(JNIEnv* env, jclass, jint port, jint bufferSize)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitAuto";
SPIJNI_LOG(logDEBUG) << "Port = " << port;
SPIJNI_LOG(logDEBUG) << "BufferSize = " << bufferSize;
@@ -277,8 +312,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitAuto
* Method: spiFreeAuto
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiFreeAuto
(JNIEnv *env, jclass, jint port) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiFreeAuto
(JNIEnv* env, jclass, jint port)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiFreeAuto";
SPIJNI_LOG(logDEBUG) << "Port = " << port;
int32_t status = 0;
@@ -292,8 +329,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiFreeAuto
* Method: spiStartAutoRate
* Signature: (ID)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStartAutoRate
(JNIEnv *env, jclass, jint port, jdouble period) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStartAutoRate
(JNIEnv* env, jclass, jint port, jdouble period)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStartAutoRate";
SPIJNI_LOG(logDEBUG) << "Port = " << port;
SPIJNI_LOG(logDEBUG) << "Period = " << period;
@@ -308,8 +347,11 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStartAutoRate
* Method: spiStartAutoTrigger
* Signature: (IIIZZ)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStartAutoTrigger
(JNIEnv *env, jclass, jint port, jint digitalSourceHandle, jint analogTriggerType, jboolean triggerRising, jboolean triggerFalling) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStartAutoTrigger
(JNIEnv* env, jclass, jint port, jint digitalSourceHandle,
jint analogTriggerType, jboolean triggerRising, jboolean triggerFalling)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStartAutoTrigger";
SPIJNI_LOG(logDEBUG) << "Port = " << port;
SPIJNI_LOG(logDEBUG) << "DigitalSourceHandle = " << digitalSourceHandle;
@@ -318,8 +360,8 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStartAutoTrigger
SPIJNI_LOG(logDEBUG) << "TriggerFalling = " << (jint)triggerFalling;
int32_t status = 0;
HAL_StartSPIAutoTrigger(static_cast<HAL_SPIPort>(port), digitalSourceHandle,
static_cast<HAL_AnalogTriggerType>(analogTriggerType), triggerRising,
triggerFalling, &status);
static_cast<HAL_AnalogTriggerType>(analogTriggerType),
triggerRising, triggerFalling, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -329,8 +371,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStartAutoTrigger
* Method: spiStopAuto
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStopAuto
(JNIEnv *env, jclass, jint port) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStopAuto
(JNIEnv* env, jclass, jint port)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStopAuto";
SPIJNI_LOG(logDEBUG) << "Port = " << port;
int32_t status = 0;
@@ -344,14 +388,17 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStopAuto
* Method: spiSetAutoTransmitData
* Signature: (I[BI)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAutoTransmitData
(JNIEnv *env, jclass, jint port, jbyteArray dataToSend, jint zeroSize) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAutoTransmitData
(JNIEnv* env, jclass, jint port, jbyteArray dataToSend, jint zeroSize)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAutoTransmitData";
SPIJNI_LOG(logDEBUG) << "Port = " << port;
SPIJNI_LOG(logDEBUG) << "ZeroSize = " << zeroSize;
JByteArrayRef jarr(env, dataToSend);
int32_t status = 0;
HAL_SetSPIAutoTransmitData(static_cast<HAL_SPIPort>(port),
HAL_SetSPIAutoTransmitData(
static_cast<HAL_SPIPort>(port),
reinterpret_cast<const uint8_t*>(jarr.array().data()),
jarr.array().size(), zeroSize, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
@@ -363,8 +410,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAutoTransmitD
* Method: spiForceAutoRead
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiForceAutoRead
(JNIEnv *env, jclass, jint port) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiForceAutoRead
(JNIEnv* env, jclass, jint port)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiForceAutoRead";
SPIJNI_LOG(logDEBUG) << "Port = " << port;
int32_t status = 0;
@@ -376,17 +425,22 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiForceAutoRead
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: spiReadAutoReceivedData
* Signature: (ILjava/nio/ByteBuffer;ID)I
* Signature: (ILjava/lang/Object;ID)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadAutoReceivedData__ILjava_nio_ByteBuffer_2ID
(JNIEnv *env, jclass, jint port, jobject buffer, jint numToRead, jdouble timeout) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadAutoReceivedData__ILjava_nio_ByteBuffer_2ID
(JNIEnv* env, jclass, jint port, jobject buffer, jint numToRead,
jdouble timeout)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadAutoReceivedData";
SPIJNI_LOG(logDEBUG) << "Port = " << port;
SPIJNI_LOG(logDEBUG) << "NumToRead = " << numToRead;
SPIJNI_LOG(logDEBUG) << "Timeout = " << timeout;
uint8_t *recvBuf = (uint8_t *)env->GetDirectBufferAddress(buffer);
uint8_t* recvBuf =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(buffer));
int32_t status = 0;
jint retval = HAL_ReadSPIAutoReceivedData(static_cast<HAL_SPIPort>(port), recvBuf, numToRead, timeout, &status);
jint retval = HAL_ReadSPIAutoReceivedData(
static_cast<HAL_SPIPort>(port), recvBuf, numToRead, timeout, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "Return = " << retval;
CheckStatus(env, status);
@@ -398,8 +452,11 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadAutoReceived
* Method: spiReadAutoReceivedData
* Signature: (I[BID)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadAutoReceivedData__I_3BID
(JNIEnv *env, jclass, jint port, jbyteArray buffer, jint numToRead, jdouble timeout) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadAutoReceivedData__I_3BID
(JNIEnv* env, jclass, jint port, jbyteArray buffer, jint numToRead,
jdouble timeout)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadAutoReceivedData";
SPIJNI_LOG(logDEBUG) << "Port = " << port;
SPIJNI_LOG(logDEBUG) << "NumToRead = " << numToRead;
@@ -407,13 +464,15 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadAutoReceived
wpi::SmallVector<uint8_t, 128> recvBuf;
recvBuf.resize(numToRead);
int32_t status = 0;
jint retval = HAL_ReadSPIAutoReceivedData(static_cast<HAL_SPIPort>(port), recvBuf.data(), numToRead, timeout, &status);
jint retval =
HAL_ReadSPIAutoReceivedData(static_cast<HAL_SPIPort>(port),
recvBuf.data(), numToRead, timeout, &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "Return = " << retval;
if (!CheckStatus(env, status)) return retval;
if (numToRead > 0) {
env->SetByteArrayRegion(buffer, 0, numToRead,
reinterpret_cast<const jbyte *>(recvBuf.data()));
reinterpret_cast<const jbyte*>(recvBuf.data()));
}
return retval;
}
@@ -423,12 +482,15 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadAutoReceived
* Method: spiGetAutoDroppedCount
* Signature: (I)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAutoDroppedCount
(JNIEnv *env, jclass, jint port) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAutoDroppedCount
(JNIEnv* env, jclass, jint port)
{
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAutoDroppedCount";
SPIJNI_LOG(logDEBUG) << "Port = " << port;
int32_t status = 0;
auto retval = HAL_GetSPIAutoDroppedCount(static_cast<HAL_SPIPort>(port), &status);
auto retval =
HAL_GetSPIAutoDroppedCount(static_cast<HAL_SPIPort>(port), &status);
SPIJNI_LOG(logDEBUG) << "Status = " << status;
SPIJNI_LOG(logDEBUG) << "Return = " << retval;
CheckStatus(env, status);

130
hal/src/main/native/cpp/jni/SerialPortJNI.cpp
View File

@@ -1,19 +1,20 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <assert.h>
#include <jni.h>
#include "HAL/cpp/Log.h"
#include "edu_wpi_first_wpilibj_hal_SerialPortJNI.h"
#include <cassert>
#include <wpi/jni_util.h>
#include "HAL/SerialPort.h"
#include "HAL/cpp/Log.h"
#include "HALUtil.h"
#include "wpi/jni_util.h"
#include "edu_wpi_first_wpilibj_hal_SerialPortJNI.h"
using namespace frc;
using namespace wpi::java;
@@ -25,7 +26,7 @@ TLogLevel serialJNILogLevel = logWARNING;
if (level > serialJNILogLevel) \
; \
else \
Log().Get(level)
Log().Get(level)
extern "C" {
@@ -35,8 +36,9 @@ extern "C" {
* Signature: (B)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialInitializePort(
JNIEnv* env, jclass, jbyte port) {
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialInitializePort
(JNIEnv* env, jclass, jbyte port)
{
SERIALJNI_LOG(logDEBUG) << "Calling Serial Initialize";
SERIALJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
@@ -51,8 +53,9 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialInitializePort(
* Signature: (BLjava/lang/String;)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialInitializePortDirect(
JNIEnv* env, jclass, jbyte port, jstring portName) {
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialInitializePortDirect
(JNIEnv* env, jclass, jbyte port, jstring portName)
{
SERIALJNI_LOG(logDEBUG) << "Calling Serial Initialize Direct";
SERIALJNI_LOG(logDEBUG) << "Port = " << (jint)port;
JStringRef portNameRef{env, portName};
@@ -70,8 +73,9 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialInitializePortDirect(
* Signature: (BI)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetBaudRate(
JNIEnv* env, jclass, jbyte port, jint rate) {
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetBaudRate
(JNIEnv* env, jclass, jbyte port, jint rate)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Baud Rate";
SERIALJNI_LOG(logDEBUG) << "Baud: " << rate;
int32_t status = 0;
@@ -86,8 +90,9 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetBaudRate(
* Signature: (BB)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetDataBits(
JNIEnv* env, jclass, jbyte port, jbyte bits) {
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetDataBits
(JNIEnv* env, jclass, jbyte port, jbyte bits)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Data Bits";
SERIALJNI_LOG(logDEBUG) << "Data Bits: " << bits;
int32_t status = 0;
@@ -102,8 +107,9 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetDataBits(
* Signature: (BB)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetParity(
JNIEnv* env, jclass, jbyte port, jbyte parity) {
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetParity
(JNIEnv* env, jclass, jbyte port, jbyte parity)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Parity";
SERIALJNI_LOG(logDEBUG) << "Parity: " << parity;
int32_t status = 0;
@@ -118,8 +124,9 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetParity(
* Signature: (BB)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetStopBits(
JNIEnv* env, jclass, jbyte port, jbyte bits) {
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetStopBits
(JNIEnv* env, jclass, jbyte port, jbyte bits)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Stop Bits";
SERIALJNI_LOG(logDEBUG) << "Stop Bits: " << bits;
int32_t status = 0;
@@ -134,8 +141,9 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetStopBits(
* Signature: (BB)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetWriteMode(
JNIEnv* env, jclass, jbyte port, jbyte mode) {
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetWriteMode
(JNIEnv* env, jclass, jbyte port, jbyte mode)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Mode";
SERIALJNI_LOG(logDEBUG) << "Write mode: " << mode;
int32_t status = 0;
@@ -150,8 +158,9 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetWriteMode(
* Signature: (BB)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetFlowControl(
JNIEnv* env, jclass, jbyte port, jbyte flow) {
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetFlowControl
(JNIEnv* env, jclass, jbyte port, jbyte flow)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Flow Control";
SERIALJNI_LOG(logDEBUG) << "Flow Control: " << flow;
int32_t status = 0;
@@ -166,8 +175,9 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetFlowControl(
* Signature: (BD)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetTimeout(
JNIEnv* env, jclass, jbyte port, jdouble timeout) {
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetTimeout
(JNIEnv* env, jclass, jbyte port, jdouble timeout)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Timeout";
SERIALJNI_LOG(logDEBUG) << "Timeout: " << timeout;
int32_t status = 0;
@@ -182,12 +192,14 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetTimeout(
* Signature: (BC)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialEnableTermination(
JNIEnv* env, jclass, jbyte port, jchar terminator) {
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialEnableTermination
(JNIEnv* env, jclass, jbyte port, jchar terminator)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Enable Termination";
SERIALJNI_LOG(logDEBUG) << "Terminator: " << terminator;
int32_t status = 0;
HAL_EnableSerialTermination(static_cast<HAL_SerialPort>(port), terminator, &status);
HAL_EnableSerialTermination(static_cast<HAL_SerialPort>(port), terminator,
&status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -198,8 +210,9 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialEnableTermination(
* Signature: (B)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialDisableTermination(
JNIEnv* env, jclass, jbyte port) {
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialDisableTermination
(JNIEnv* env, jclass, jbyte port)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Disable termination";
int32_t status = 0;
HAL_DisableSerialTermination(static_cast<HAL_SerialPort>(port), &status);
@@ -213,8 +226,9 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialDisableTermination(
* Signature: (BI)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetReadBufferSize(
JNIEnv* env, jclass, jbyte port, jint size) {
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetReadBufferSize
(JNIEnv* env, jclass, jbyte port, jint size)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Read Buffer Size";
SERIALJNI_LOG(logDEBUG) << "Size: " << size;
int32_t status = 0;
@@ -229,12 +243,14 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetReadBufferSize(
* Signature: (BI)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetWriteBufferSize(
JNIEnv* env, jclass, jbyte port, jint size) {
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetWriteBufferSize
(JNIEnv* env, jclass, jbyte port, jint size)
{
SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Buffer Size";
SERIALJNI_LOG(logDEBUG) << "Size: " << size;
int32_t status = 0;
HAL_SetSerialWriteBufferSize(static_cast<HAL_SerialPort>(port), size, &status);
HAL_SetSerialWriteBufferSize(static_cast<HAL_SerialPort>(port), size,
&status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -245,11 +261,13 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetWriteBufferSize(
* Signature: (B)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialGetBytesReceived(
JNIEnv* env, jclass, jbyte port) {
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialGetBytesReceived
(JNIEnv* env, jclass, jbyte port)
{
SERIALJNI_LOG(logDEBUG) << "Serial Get Bytes Received";
int32_t status = 0;
jint retVal = HAL_GetSerialBytesReceived(static_cast<HAL_SerialPort>(port), &status);
jint retVal =
HAL_GetSerialBytesReceived(static_cast<HAL_SerialPort>(port), &status);
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
return retVal;
@@ -260,16 +278,18 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialGetBytesReceived(
* Method: serialRead
* Signature: (B[BI)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialRead(
JNIEnv* env, jclass, jbyte port, jbyteArray dataReceived, jint size) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialRead
(JNIEnv* env, jclass, jbyte port, jbyteArray dataReceived, jint size)
{
SERIALJNI_LOG(logDEBUG) << "Serial Read";
wpi::SmallVector<char, 128> recvBuf;
recvBuf.resize(size);
int32_t status = 0;
jint retVal = HAL_ReadSerial(static_cast<HAL_SerialPort>(port), recvBuf.data(),
size, &status);
jint retVal = HAL_ReadSerial(static_cast<HAL_SerialPort>(port),
recvBuf.data(), size, &status);
env->SetByteArrayRegion(dataReceived, 0, size,
reinterpret_cast<const jbyte *>(recvBuf.data()));
reinterpret_cast<const jbyte*>(recvBuf.data()));
SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
@@ -281,13 +301,15 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialRead(
* Method: serialWrite
* Signature: (B[BI)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialWrite(
JNIEnv* env, jclass, jbyte port, jbyteArray dataToSend, jint size) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialWrite
(JNIEnv* env, jclass, jbyte port, jbyteArray dataToSend, jint size)
{
SERIALJNI_LOG(logDEBUG) << "Serial Write";
int32_t status = 0;
jint retVal =
HAL_WriteSerial(static_cast<HAL_SerialPort>(port),
reinterpret_cast<const char *>(
reinterpret_cast<const char*>(
JByteArrayRef(env, dataToSend).array().data()),
size, &status);
SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
@@ -301,8 +323,10 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialWrite(
* Method: serialFlush
* Signature: (B)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialFlush(
JNIEnv* env, jclass, jbyte port) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialFlush
(JNIEnv* env, jclass, jbyte port)
{
SERIALJNI_LOG(logDEBUG) << "Serial Flush";
int32_t status = 0;
HAL_FlushSerial(static_cast<HAL_SerialPort>(port), &status);
@@ -315,8 +339,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialFlush(
* Method: serialClear
* Signature: (B)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialClear(
JNIEnv* env, jclass, jbyte port) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialClear
(JNIEnv* env, jclass, jbyte port)
{
SERIALJNI_LOG(logDEBUG) << "Serial Clear";
int32_t status = 0;
HAL_ClearSerial(static_cast<HAL_SerialPort>(port), &status);
@@ -329,8 +355,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialClear(
* Method: serialClose
* Signature: (B)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialClose(
JNIEnv* env, jclass, jbyte port) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialClose
(JNIEnv* env, jclass, jbyte port)
{
SERIALJNI_LOG(logDEBUG) << "Serial Close";
int32_t status = 0;
HAL_CloseSerial(static_cast<HAL_SerialPort>(port), &status);

104
hal/src/main/native/cpp/jni/SolenoidJNI.cpp
View File

@@ -1,19 +1,18 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <jni.h>
#include "HAL/Solenoid.h"
#include "HAL/Ports.h"
#include "HAL/handles/HandlesInternal.h"
#include "HAL/Solenoid.h"
#include "HAL/cpp/Log.h"
#include "edu_wpi_first_wpilibj_hal_SolenoidJNI.h"
#include "HAL/handles/HandlesInternal.h"
#include "HALUtil.h"
#include "edu_wpi_first_wpilibj_hal_SolenoidJNI.h"
using namespace frc;
@@ -23,7 +22,7 @@ TLogLevel solenoidJNILogLevel = logERROR;
if (level > solenoidJNILogLevel) \
; \
else \
Log().Get(level)
Log().Get(level)
extern "C" {
@@ -33,8 +32,9 @@ extern "C" {
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_initializeSolenoidPort(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_initializeSolenoidPort
(JNIEnv* env, jclass, jint id)
{
SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI initializeSolenoidPort";
SOLENOIDJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
@@ -55,10 +55,12 @@ Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_initializeSolenoidPort(
/*
* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
* Method: checkSolenoidChannel
* Signature: (I)Z;
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_checkSolenoidChannel(
JNIEnv *env, jclass, jint channel) {
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_checkSolenoidChannel
(JNIEnv* env, jclass, jint channel)
{
SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI checkSolenoidChannel";
SOLENOIDJNI_LOG(logDEBUG) << "Channel = " << channel;
return HAL_CheckSolenoidChannel(channel);
@@ -67,10 +69,12 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_checkSolen
/*
* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
* Method: checkSolenoidModule
* Signature: (I)Z;
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_checkSolenoidModule(
JNIEnv *env, jclass, jint module) {
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_checkSolenoidModule
(JNIEnv* env, jclass, jint module)
{
SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI checkSolenoidModule";
SOLENOIDJNI_LOG(logDEBUG) << "Module = " << module;
return HAL_CheckSolenoidModule(module);
@@ -82,8 +86,9 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_checkSolen
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_freeSolenoidPort(
JNIEnv *env, jclass, jint id) {
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_freeSolenoidPort
(JNIEnv* env, jclass, jint id)
{
SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI initializeSolenoidPort";
SOLENOIDJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_SolenoidHandle)id;
@@ -95,12 +100,14 @@ Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_freeSolenoidPort(
* Method: setSolenoid
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_setSolenoid(
JNIEnv *env, jclass, jint solenoid_port, jboolean value) {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_setSolenoid
(JNIEnv* env, jclass, jint solenoid_port, jboolean value)
{
SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI SetSolenoid";
SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Handle = "
<< (HAL_SolenoidHandle)solenoid_port;
SOLENOIDJNI_LOG(logDEBUG)
<< "Solenoid Port Handle = " << (HAL_SolenoidHandle)solenoid_port;
int32_t status = 0;
HAL_SetSolenoid((HAL_SolenoidHandle)solenoid_port, value, &status);
@@ -113,8 +120,9 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_setSolenoid(
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getSolenoid(
JNIEnv *env, jclass, jint solenoid_port) {
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getSolenoid
(JNIEnv* env, jclass, jint solenoid_port)
{
int32_t status = 0;
jboolean val = HAL_GetSolenoid((HAL_SolenoidHandle)solenoid_port, &status);
CheckStatus(env, status);
@@ -127,8 +135,9 @@ Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getSolenoid(
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getAllSolenoids(
JNIEnv *env, jclass, jint module) {
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getAllSolenoids
(JNIEnv* env, jclass, jint module)
{
int32_t status = 0;
jint val = HAL_GetAllSolenoids(module, &status);
CheckStatus(env, status);
@@ -141,8 +150,9 @@ Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getAllSolenoids(
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidBlackList(
JNIEnv *env, jclass, jint module) {
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidBlackList
(JNIEnv* env, jclass, jint module)
{
int32_t status = 0;
jint val = HAL_GetPCMSolenoidBlackList(module, &status);
CheckStatus(env, status);
@@ -154,8 +164,9 @@ Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidBlackList(
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidVoltageStickyFault(
JNIEnv *env, jclass, jint module) {
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidVoltageStickyFault
(JNIEnv* env, jclass, jint module)
{
int32_t status = 0;
bool val = HAL_GetPCMSolenoidVoltageStickyFault(module, &status);
CheckStatus(env, status);
@@ -167,8 +178,9 @@ Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidVoltageStickyFault(
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidVoltageFault(
JNIEnv *env, jclass, jint module) {
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidVoltageFault
(JNIEnv* env, jclass, jint module)
{
int32_t status = 0;
bool val = HAL_GetPCMSolenoidVoltageFault(module, &status);
CheckStatus(env, status);
@@ -180,8 +192,9 @@ Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidVoltageFault(
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_clearAllPCMStickyFaults(
JNIEnv *env, jclass, jint module) {
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_clearAllPCMStickyFaults
(JNIEnv* env, jclass, jint module)
{
int32_t status = 0;
HAL_ClearAllPCMStickyFaults(module, &status);
CheckStatus(env, status);
@@ -192,17 +205,19 @@ Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_clearAllPCMStickyFaults(
* Method: setOneShotDuration
* Signature: (IJ)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_setOneShotDuration
(JNIEnv *env, jclass, jint solenoid_port, jlong durationMS)
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_setOneShotDuration
(JNIEnv* env, jclass, jint solenoid_port, jlong durationMS)
{
SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI SetOneShotDuration";
SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Handle = "
<< (HAL_SolenoidHandle)solenoid_port;
SOLENOIDJNI_LOG(logDEBUG)
<< "Solenoid Port Handle = " << (HAL_SolenoidHandle)solenoid_port;
SOLENOIDJNI_LOG(logDEBUG) << "Duration (MS) = " << durationMS;
int32_t status = 0;
HAL_SetOneShotDuration((HAL_SolenoidHandle)solenoid_port, durationMS, &status);
HAL_SetOneShotDuration((HAL_SolenoidHandle)solenoid_port, durationMS,
&status);
CheckStatus(env, status);
}
@@ -211,13 +226,14 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_setOneShotDura
* Method: fireOneShot
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_fireOneShot
(JNIEnv *env, jclass, jint solenoid_port)
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_fireOneShot
(JNIEnv* env, jclass, jint solenoid_port)
{
SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI fireOneShot";
SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Handle = "
<< (HAL_SolenoidHandle)solenoid_port;
SOLENOIDJNI_LOG(logDEBUG)
<< "Solenoid Port Handle = " << (HAL_SolenoidHandle)solenoid_port;
int32_t status = 0;
HAL_FireOneShot((HAL_SolenoidHandle)solenoid_port, &status);

43
hal/src/main/native/cpp/jni/ThreadsJNI.cpp
View File

@@ -1,18 +1,18 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <assert.h>
#include <jni.h>
#include "HAL/cpp/Log.h"
#include "edu_wpi_first_wpilibj_hal_ThreadsJNI.h"
#include <cassert>
#include "HAL/Threads.h"
#include "HAL/cpp/Log.h"
#include "HALUtil.h"
#include "edu_wpi_first_wpilibj_hal_ThreadsJNI.h"
using namespace frc;
@@ -21,18 +21,20 @@ TLogLevel threadsJNILogLevel = logWARNING;
#define THREADSJNI_LOG(level) \
if (level > threadsJNILogLevel) \
; \
else \
Log().Get(level)
; \
else \
Log().Get(level)
extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_ThreadsJNI
* Method: GetCurrentThreadPriority
* Method: getCurrentThreadPriority
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_ThreadsJNI_getCurrentThreadPriority
(JNIEnv *env, jclass) {
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_ThreadsJNI_getCurrentThreadPriority
(JNIEnv* env, jclass)
{
THREADSJNI_LOG(logDEBUG) << "Callling GetCurrentThreadPriority";
int32_t status = 0;
HAL_Bool isRT = false;
@@ -43,11 +45,13 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_ThreadsJNI_getCurrentThrea
/*
* Class: edu_wpi_first_wpilibj_hal_ThreadsJNI
* Method: GetCurrentThreadIsRealTime
* Method: getCurrentThreadIsRealTime
* Signature: ()Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_ThreadsJNI_getCurrentThreadIsRealTime
(JNIEnv *env, jclass) {
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_ThreadsJNI_getCurrentThreadIsRealTime
(JNIEnv* env, jclass)
{
THREADSJNI_LOG(logDEBUG) << "Callling GetCurrentThreadIsRealTime";
int32_t status = 0;
HAL_Bool isRT = false;
@@ -58,16 +62,19 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_ThreadsJNI_getCurrentT
/*
* Class: edu_wpi_first_wpilibj_hal_ThreadsJNI
* Method: SetCurrentThreadPriority
* Method: setCurrentThreadPriority
* Signature: (ZI)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_ThreadsJNI_setCurrentThreadPriority
(JNIEnv *env, jclass, jboolean realTime, jint priority) {
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_ThreadsJNI_setCurrentThreadPriority
(JNIEnv* env, jclass, jboolean realTime, jint priority)
{
THREADSJNI_LOG(logDEBUG) << "Callling SetCurrentThreadPriority";
int32_t status = 0;
auto ret = HAL_SetCurrentThreadPriority((HAL_Bool)realTime, (int32_t)priority, &status);
auto ret = HAL_SetCurrentThreadPriority(
(HAL_Bool)realTime, static_cast<int32_t>(priority), &status);
CheckStatus(env, status);
return (jboolean)ret;
}
}
} // extern "C"