mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-28 02:11:43 +00:00
CMake Changes
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
This commit is contained in:
Brad Miller
484
wpilibj/wpilibJavaJNI/lib/AnalogJNI.cpp
Normal file
484
wpilibj/wpilibJavaJNI/lib/AnalogJNI.cpp
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@@ -0,0 +1,484 @@
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#include <jni.h>
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#include <assert.h>
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#include "Log.h"
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#include "edu_wpi_first_wpilibj_hal_AnalogJNI.h"
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#include "HAL/Analog.h"
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// set the logging level
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TLogLevel analogJNILogLevel = logDEBUG;
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#define ANALOGJNI_LOG(level) \
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if (level > analogJNILogLevel) ; \
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else Log().Get(level)
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
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* Method: initializeAnalogPort
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogPort
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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ANALOGJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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ANALOGJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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void** analogPtr = (void**)new unsigned char[4];
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*analogPtr = initializeAnalogPort(*javaId, statusPtr);
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ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *analogPtr;
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return env->NewDirectByteBuffer( analogPtr, 4);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
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* Method: checkAnalogModule
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* Signature: (B)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogModule
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(JNIEnv *, jclass, jbyte value)
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{
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//ANALOGJNI_LOG(logDEBUG) << "Module = " << (jint)value;
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jbyte returnValue = checkAnalogModule( value );
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//ANALOGJNI_LOG(logDEBUG) << "checkAnalogModuleResult = " << (jint)returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
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* Method: checkAnalogChannel
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* Signature: (I)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogChannel
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(JNIEnv *, jclass, jint value)
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{
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//ANALOGJNI_LOG(logDEBUG) << "Channel = " << value;
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jbyte returnValue = checkAnalogChannel( value );
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//ANALOGJNI_LOG(logDEBUG) << "checkAnalogChannelResult = " << (jint)returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
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* Method: setAnalogSampleRate
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* Signature: (DLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogSampleRate
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(JNIEnv * env, jclass, jdouble value, jobject status)
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{
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ANALOGJNI_LOG(logDEBUG) << "SampleRate = " << value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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setAnalogSampleRate( value, statusPtr );
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ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
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* Method: getAnalogSampleRate
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* Signature: (Ljava/nio/IntBuffer;)D
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*/
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JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogSampleRate
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(JNIEnv * env, jclass, jobject status)
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{
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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double returnValue = getAnalogSampleRate( statusPtr );
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ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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ANALOGJNI_LOG(logDEBUG) << "SampleRate = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
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* Method: setAnalogSampleRateWithModule
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* Signature: (BDLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogSampleRateWithModule
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(JNIEnv * env, jclass, jbyte module, jdouble value, jobject status)
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{
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ANALOGJNI_LOG(logDEBUG) << "Module = " << (jint)module;
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ANALOGJNI_LOG(logDEBUG) << "SampleRate = " << value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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setAnalogSampleRateWithModule( module, value, statusPtr );
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ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
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* Method: getAnalogSampleRateWithModule
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* Signature: (BLjava/nio/IntBuffer;)D
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*/
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JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogSampleRateWithModule
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(JNIEnv * env, jclass, jbyte module, jobject status)
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{
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ANALOGJNI_LOG(logDEBUG) << "Module = " << (jint)module;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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double returnValue = getAnalogSampleRateWithModule( module, statusPtr );
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ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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ANALOGJNI_LOG(logDEBUG) << "SampleRate = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
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* Method: setAnalogAverageBits
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* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogAverageBits
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(JNIEnv * env, jclass, jobject id, jint value, jobject status)
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{
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ANALOGJNI_LOG(logDEBUG) << "AverageBits = " << value;
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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setAnalogAverageBits( *javaId, value, statusPtr );
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ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
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* Method: getAnalogAverageBits
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageBits
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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jint returnValue = getAnalogAverageBits( *javaId, statusPtr );
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ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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ANALOGJNI_LOG(logDEBUG) << "AverageBits = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
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* Method: setAnalogOversampleBits
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* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogOversampleBits
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(JNIEnv * env, jclass, jobject id, jint value, jobject status)
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{
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ANALOGJNI_LOG(logDEBUG) << "OversampleBits = " << value;
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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setAnalogOversampleBits( *javaId, value, statusPtr );
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ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
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* Method: getAnalogOversampleBits
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOversampleBits
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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jint returnValue = getAnalogOversampleBits( *javaId, statusPtr );
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ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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ANALOGJNI_LOG(logDEBUG) << "OversampleBits = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
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* Method: getAnalogValue
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)S
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*/
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JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogValue
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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//ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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jshort returnValue = getAnalogValue( *javaId, statusPtr );
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//ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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//ANALOGJNI_LOG(logDEBUG) << "Value = " << returnValue;
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return returnValue;
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}
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|
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
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* Method: getAnalogAverageValue
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageValue
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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jint returnValue = getAnalogAverageValue( *javaId, statusPtr );
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ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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ANALOGJNI_LOG(logDEBUG) << "AverageValue = " << returnValue;
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return returnValue;
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}
|
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|
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/*
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* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
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* Method: getAnalogVoltsToValue
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* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogVoltsToValue
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(JNIEnv * env, jclass, jobject id, jdouble voltageValue, jobject status)
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{
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
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ANALOGJNI_LOG(logDEBUG) << "VoltageValue = " << voltageValue;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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jint returnValue = getAnalogVoltsToValue( *javaId, voltageValue, statusPtr );
|
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ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
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ANALOGJNI_LOG(logDEBUG) << "Value = " << returnValue;
|
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return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: getAnalogVoltage
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
|
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*/
|
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JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogVoltage
|
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(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
//ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
|
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
jdouble returnValue = getAnalogVoltage( *javaId, statusPtr );
|
||||
//ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
//ANALOGJNI_LOG(logDEBUG) << "Voltage = " << returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: getAnalogAverageVoltage
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
|
||||
*/
|
||||
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageVoltage
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
jdouble returnValue = getAnalogAverageVoltage( *javaId, statusPtr );
|
||||
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
ANALOGJNI_LOG(logDEBUG) << "AverageVoltage = " << returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: getAnalogLSBWeight
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogLSBWeight
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: getAnalogOffset
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOffset
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: isAccumulatorChannel
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_isAccumulatorChannel
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: initAccumulator
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initAccumulator
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: resetAccumulator
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_resetAccumulator
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: setAccumulatorCenter
|
||||
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorCenter
|
||||
(JNIEnv *, jclass, jobject, jint, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: setAccumulatorDeadband
|
||||
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorDeadband
|
||||
(JNIEnv *, jclass, jobject, jint, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: getAccumulatorValue
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)J
|
||||
*/
|
||||
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorValue
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: getAccumulatorCount
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorCount
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: getAccumulatorOutput
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/LongBuffer;Ljava/nio/IntBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorOutput
|
||||
(JNIEnv *, jclass, jobject, jobject, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: initializeAnalogTrigger
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
|
||||
*/
|
||||
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogTrigger
|
||||
(JNIEnv *, jclass, jobject, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: cleanAnalogTrigger
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_cleanAnalogTrigger
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: setAnalogTriggerLimitsRaw
|
||||
* Signature: (Ljava/nio/ByteBuffer;IILjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerLimitsRaw
|
||||
(JNIEnv *, jclass, jobject, jint, jint, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: setAnalogTriggerLimitsVoltage
|
||||
* Signature: (Ljava/nio/ByteBuffer;DDLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerLimitsVoltage
|
||||
(JNIEnv *, jclass, jobject, jdouble, jdouble, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: setAnalogTriggerAveraged
|
||||
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerAveraged
|
||||
(JNIEnv *, jclass, jobject, jbyte, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: setAnalogTriggerFiltered
|
||||
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerFiltered
|
||||
(JNIEnv *, jclass, jobject, jbyte, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: getAnalogTriggerInWindow
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerInWindow
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: getAnalogTriggerTriggerState
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerTriggerState
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
|
||||
* Method: getAnalogTriggerOutput
|
||||
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerOutput
|
||||
(JNIEnv *, jclass, jobject, jint, jobject)
|
||||
{
|
||||
assert(false);
|
||||
|
||||
}
|
||||
99
wpilibj/wpilibJavaJNI/lib/CANJNI.cpp
Normal file
99
wpilibj/wpilibJavaJNI/lib/CANJNI.cpp
Normal file
@@ -0,0 +1,99 @@
|
||||
#include <jni.h>
|
||||
#include <assert.h>
|
||||
#include "Log.h"
|
||||
|
||||
#include "edu_wpi_first_wpilibj_can_CANJNI.h"
|
||||
|
||||
#include "HAL/CAN.h"
|
||||
|
||||
// set the logging level
|
||||
TLogLevel canJNILogLevel = logDEBUG;
|
||||
|
||||
#define CANJNI_LOG(level) \
|
||||
if (level > canJNILogLevel) ; \
|
||||
else Log().Get(level)
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_can_CANJNI
|
||||
* Method: FRCNetworkCommunicationJaguarCANDriverSendMessage
|
||||
* Signature: (I[BBLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationJaguarCANDriverSendMessage
|
||||
(JNIEnv *env, jclass, jint messageID, jobject data, jobject status)
|
||||
{
|
||||
CANJNI_LOG(logDEBUG) << "Calling CANJNI JaguarCANDriverSendMessage";
|
||||
CANJNI_LOG(logDEBUG) << "MessageID = " << std::hex << messageID;
|
||||
jbyte * dataPtr = NULL;
|
||||
jlong dataCapacity = 0;
|
||||
|
||||
if(data != 0)
|
||||
{
|
||||
dataPtr = (jbyte*)env->GetDirectBufferAddress(data);
|
||||
dataCapacity = env->GetDirectBufferCapacity(data);
|
||||
}
|
||||
CANJNI_LOG(logDEBUG) << "MessageSize = " << dataCapacity;
|
||||
|
||||
if( logDEBUG <= canJNILogLevel )
|
||||
{
|
||||
std::ostringstream str;
|
||||
str << std::setfill('0') << std::hex;
|
||||
for( int dataIndex = 0; dataIndex < dataCapacity; dataIndex++)
|
||||
{
|
||||
str << std::setw(2) << static_cast<unsigned int>(dataPtr[dataIndex]) << " ";
|
||||
}
|
||||
Log().Get(logDEBUG) << "MSG: " << str.str();
|
||||
}
|
||||
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
//CANJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
JaguarCANSendMessage((uint32_t) messageID, (const uint8_t*)dataPtr, (uint8_t)dataCapacity, statusPtr);
|
||||
CANJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_can_CANJNI
|
||||
* Method: FRCNetworkCommunicationJaguarCANDriverReceiveMessage
|
||||
* Signature: (Ljava/nio/IntBuffer;Ljava/nio/ByteBuffer;Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationJaguarCANDriverReceiveMessage
|
||||
(JNIEnv * env, jclass, jobject messageID, jint timeout, jobject status)
|
||||
{
|
||||
CANJNI_LOG(logDEBUG) << "Calling CANJNI JaguarCANDriverReceiveMessage";
|
||||
jint * messageIDPtr = (jint*)env->GetDirectBufferAddress(messageID);
|
||||
CANJNI_LOG(logDEBUG) << "MessageID In = " << std::hex << *messageIDPtr;
|
||||
CANJNI_LOG(logDEBUG) << "Timeout = " << timeout;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
//CANJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
uint8_t dataSize = 8;
|
||||
jbyte* dataPtr = new jbyte[8];
|
||||
//CANJNI_LOG(logDEBUG) << "Original MessageSize = " << (jint)dataSize;
|
||||
//CANJNI_LOG(logDEBUG) << "Original MessagePtr = " << (jint*)dataPtr;
|
||||
JaguarCANReceiveMessage((uint32_t*)messageIDPtr, (uint8_t*)dataPtr, &dataSize, timeout, statusPtr);
|
||||
|
||||
//CANJNI_LOG(logDEBUG) << "MessageID Out = " << std::hex << *messageIDPtr;
|
||||
CANJNI_LOG(logDEBUG) << "MessageSize = " << (jint)dataSize;
|
||||
CANJNI_LOG(logDEBUG) << "MessagePtr = " << (jint*)dataPtr;
|
||||
|
||||
if( logDEBUG <= canJNILogLevel )
|
||||
{
|
||||
std::ostringstream str;
|
||||
str << std::setfill('0') << std::hex;
|
||||
for( int dataIndex = 0; dataIndex < dataSize; dataIndex++)
|
||||
{
|
||||
str << std::setw(2) << static_cast<unsigned int>(dataPtr[dataIndex]) << " ";
|
||||
}
|
||||
Log().Get(logDEBUG) << "MSG: " << str.str();
|
||||
}
|
||||
|
||||
CANJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
|
||||
if( dataSize > 0 )
|
||||
{
|
||||
return env->NewDirectByteBuffer( dataPtr, dataSize);
|
||||
}
|
||||
else
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
471
wpilibj/wpilibJavaJNI/lib/CounterJNI.cpp
Normal file
471
wpilibj/wpilibJavaJNI/lib/CounterJNI.cpp
Normal file
@@ -0,0 +1,471 @@
|
||||
#include <jni.h>
|
||||
#include <assert.h>
|
||||
#include "Log.h"
|
||||
|
||||
#include "edu_wpi_first_wpilibj_hal_CounterJNI.h"
|
||||
|
||||
#include "HAL/Digital.h"
|
||||
|
||||
// set the logging level
|
||||
TLogLevel counterJNILogLevel = logDEBUG;
|
||||
|
||||
#define COUNTERJNI_LOG(level) \
|
||||
if (level > counterJNILogLevel) ; \
|
||||
else Log().Get(level)
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: initializeCounter
|
||||
* Signature: (ILjava/nio/IntBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
|
||||
*/
|
||||
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_initializeCounter
|
||||
(JNIEnv * env, jclass, jint mode, jobject index, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI initializeCounter";
|
||||
COUNTERJNI_LOG(logDEBUG) << "Mode = " << mode;
|
||||
jint * indexPtr = (jint*)env->GetDirectBufferAddress(index);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Index Ptr = " << indexPtr;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
void** counterPtr = (void**)new unsigned char[4];
|
||||
*counterPtr = initializeCounter((Mode)mode, (uint32_t*)indexPtr, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Index = " << *indexPtr;
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
COUNTERJNI_LOG(logDEBUG) << "COUNTER Ptr = " << *counterPtr;
|
||||
return env->NewDirectByteBuffer( counterPtr, 4);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: freeCounter
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_freeCounter
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI freeCounter";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
freeCounter(*javaId, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: setCounterAverageSize
|
||||
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterAverageSize
|
||||
(JNIEnv * env, jclass, jobject id, jint value, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterAverageSize";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
COUNTERJNI_LOG(logDEBUG) << "AverageSize = " << value;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setCounterAverageSize(*javaId, value, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: setCounterUpSourceWithModule
|
||||
* Signature: (Ljava/nio/ByteBuffer;BIBLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpSourceWithModule
|
||||
(JNIEnv * env, jclass, jobject id, jbyte module, jint pin, jbyte analogTrigger, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpSourceWithModule";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
COUNTERJNI_LOG(logDEBUG) << "Module = " << (jint)module;
|
||||
COUNTERJNI_LOG(logDEBUG) << "Pin = " << pin;
|
||||
COUNTERJNI_LOG(logDEBUG) << "AnalogTrigger = " << (jint)analogTrigger;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setCounterUpSourceWithModule(*javaId, module, pin, analogTrigger, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: setCounterUpSourceEdge
|
||||
* Signature: (Ljava/nio/ByteBuffer;BBLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpSourceEdge
|
||||
(JNIEnv * env, jclass, jobject id, jbyte valueRise, jbyte valueFall, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpSourceEdge";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
COUNTERJNI_LOG(logDEBUG) << "Rise = " << (jint)valueRise;
|
||||
COUNTERJNI_LOG(logDEBUG) << "Fall = " << (jint)valueFall;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setCounterUpSourceEdge(*javaId, valueRise, valueFall, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: clearCounterUpSource
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_clearCounterUpSource
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI clearCounterUpSource";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
clearCounterUpSource(*javaId, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: setCounterDownSourceWithModule
|
||||
* Signature: (Ljava/nio/ByteBuffer;BIBLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterDownSourceWithModule
|
||||
(JNIEnv * env, jclass, jobject id, jbyte module, jint pin, jbyte analogTrigger, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterDownSourceWithModule";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
COUNTERJNI_LOG(logDEBUG) << "Module = " << (jint)module;
|
||||
COUNTERJNI_LOG(logDEBUG) << "Pin = " << pin;
|
||||
COUNTERJNI_LOG(logDEBUG) << "AnalogTrigger = " << (jint)analogTrigger;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setCounterDownSourceWithModule(*javaId, module, pin, analogTrigger, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: setCounterDownSourceEdge
|
||||
* Signature: (Ljava/nio/ByteBuffer;BBLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterDownSourceEdge
|
||||
(JNIEnv * env, jclass, jobject id, jbyte valueRise, jbyte valueFall, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterDownSourceEdge";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
COUNTERJNI_LOG(logDEBUG) << "Rise = " << (jint)valueRise;
|
||||
COUNTERJNI_LOG(logDEBUG) << "Fall = " << (jint)valueFall;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setCounterDownSourceEdge(*javaId, valueRise, valueFall, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: clearCounterDownSource
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_clearCounterDownSource
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI clearCounterDownSource";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
clearCounterDownSource(*javaId, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: setCounterUpDownMode
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpDownMode
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpDownMode";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setCounterUpDownMode(*javaId, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: setCounterExternalDirectionMode
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterExternalDirectionMode
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterExternalDirectionMode";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setCounterExternalDirectionMode(*javaId, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: setCounterSemiPeriodMode
|
||||
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterSemiPeriodMode
|
||||
(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterSemiPeriodMode";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
COUNTERJNI_LOG(logDEBUG) << "SemiPeriodMode = " << (jint)value;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setCounterSemiPeriodMode(*javaId, value, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: setCounterPulseLengthMode
|
||||
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterPulseLengthMode
|
||||
(JNIEnv * env, jclass, jobject id, jdouble value, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterPulseLengthMode";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
COUNTERJNI_LOG(logDEBUG) << "PulseLengthMode = " << value;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setCounterPulseLengthMode(*javaId, value, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: getCounterSamplesToAverage
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterSamplesToAverage
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterSamplesToAverage";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
jint returnValue = getCounterSamplesToAverage(*javaId, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
COUNTERJNI_LOG(logDEBUG) << "getCounterSamplesToAverageResult = " << returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: setCounterSamplesToAverage
|
||||
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterSamplesToAverage
|
||||
(JNIEnv * env, jclass, jobject id, jint value, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterSamplesToAverage";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
COUNTERJNI_LOG(logDEBUG) << "SamplesToAverage = " << value;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setCounterSamplesToAverage(*javaId, value, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: startCounter
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_startCounter
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI startCounter";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
startCounter(*javaId, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: stopCounter
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_stopCounter
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI stopCounter";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
stopCounter(*javaId, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: resetCounter
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_resetCounter
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI resetCounter";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
resetCounter(*javaId, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: getCounter
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounter
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
//COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounter";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
//COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
//COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
jint returnValue = getCounter(*javaId, statusPtr);
|
||||
//COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
//COUNTERJNI_LOG(logDEBUG) << "getCounterResult = " << returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: getCounterPeriod
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
|
||||
*/
|
||||
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterPeriod
|
||||
(JNIEnv *env, jclass, jobject id, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterPeriod";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
jdouble returnValue = getCounterPeriod(*javaId, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
COUNTERJNI_LOG(logDEBUG) << "getCounterPeriodResult = " << returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: setCounterMaxPeriod
|
||||
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterMaxPeriod
|
||||
(JNIEnv * env, jclass, jobject id, jdouble value, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterMaxPeriod";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
COUNTERJNI_LOG(logDEBUG) << "MaxPeriod = " << value;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setCounterMaxPeriod(*javaId, value, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: setCounterUpdateWhenEmpty
|
||||
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpdateWhenEmpty
|
||||
(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterMaxPeriod";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
COUNTERJNI_LOG(logDEBUG) << "UpdateWhenEmpty = " << (jint)value;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setCounterUpdateWhenEmpty(*javaId, value, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: getCounterStopped
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterStopped
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterStopped";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
jbyte returnValue = getCounterStopped(*javaId, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
COUNTERJNI_LOG(logDEBUG) << "getCounterStoppedResult = " << (jint)returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: getCounterDirection
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterDirection
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterDirection";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
jbyte returnValue = getCounterDirection(*javaId, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
COUNTERJNI_LOG(logDEBUG) << "getCounterDirectionResult = " << (jint)returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
||||
* Method: setCounterReverseDirection
|
||||
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterReverseDirection
|
||||
(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
|
||||
{
|
||||
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterReverseDirection";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
|
||||
COUNTERJNI_LOG(logDEBUG) << "ReverseDirection = " << (jint)value;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setCounterReverseDirection(*javaId, value, statusPtr);
|
||||
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
212
wpilibj/wpilibJavaJNI/lib/DIOJNI.cpp
Normal file
212
wpilibj/wpilibJavaJNI/lib/DIOJNI.cpp
Normal file
@@ -0,0 +1,212 @@
|
||||
#include <jni.h>
|
||||
#include <assert.h>
|
||||
#include "Log.h"
|
||||
|
||||
#include "edu_wpi_first_wpilibj_hal_DIOJNI.h"
|
||||
|
||||
#include "HAL/Digital.h"
|
||||
|
||||
// set the logging level
|
||||
TLogLevel dioJNILogLevel = logDEBUG;
|
||||
|
||||
#define DIOJNI_LOG(level) \
|
||||
if (level > dioJNILogLevel) ; \
|
||||
else Log().Get(level)
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
|
||||
* Method: initializeDigitalPort
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
|
||||
*/
|
||||
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDigitalPort
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI initializeDigitalPort";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
void** dioPtr = (void**)new unsigned char[4];
|
||||
*dioPtr = initializeDigitalPort(*javaId, statusPtr);
|
||||
DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
DIOJNI_LOG(logDEBUG) << "DIO Ptr = " << *dioPtr;
|
||||
return env->NewDirectByteBuffer( dioPtr, 4);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
|
||||
* Method: allocateDIO
|
||||
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_allocateDIO
|
||||
(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
|
||||
{
|
||||
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI allocateDIO";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
jbyte returnValue = allocateDIO(*javaId, value, statusPtr);
|
||||
DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
DIOJNI_LOG(logDEBUG) << "allocateDIOResult = " << (jint)returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
|
||||
* Method: freeDIO
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDIO
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDIO";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
freeDIO(*javaId, statusPtr);
|
||||
DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
|
||||
* Method: setDIO
|
||||
* Signature: (Ljava/nio/ByteBuffer;SLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIO
|
||||
(JNIEnv *env, jclass, jobject id, jshort value, jobject status)
|
||||
{
|
||||
//DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDIO";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
//DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
|
||||
//DIOJNI_LOG(logDEBUG) << "Value = " << value;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
//DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setDIO(*javaId, value, statusPtr);
|
||||
//DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
|
||||
* Method: getDIO
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIO
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
//DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIO";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
//DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
//DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
jbyte returnValue = getDIO(*javaId, statusPtr);
|
||||
//DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
//DIOJNI_LOG(logDEBUG) << "getDIOResult = " << (jint)returnValue;
|
||||
return returnValue;
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
|
||||
* Method: getDIODirection
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIODirection
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
|
||||
* Method: checkDigitalModule
|
||||
* Signature: (B)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_checkDigitalModule
|
||||
(JNIEnv *, jclass, jbyte value)
|
||||
{
|
||||
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI checkDigitalModule";
|
||||
DIOJNI_LOG(logDEBUG) << "Module = " << (jint)value;
|
||||
jbyte returnValue = checkDigitalModule( value );
|
||||
DIOJNI_LOG(logDEBUG) << "checkDigitalModuleResult = " << (jint)returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
|
||||
* Method: pulse
|
||||
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_pulse
|
||||
(JNIEnv *, jclass, jobject, jdouble, jobject)
|
||||
{
|
||||
assert(false);
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
|
||||
* Method: isPulsing
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_isPulsing
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
|
||||
* Method: isAnyPulsing
|
||||
* Signature: (Ljava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_isAnyPulsing
|
||||
(JNIEnv *, jclass, jobject)
|
||||
{
|
||||
assert(false);
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
|
||||
* Method: isAnyPulsingWithModule
|
||||
* Signature: (BLjava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_isAnyPulsingWithModule
|
||||
(JNIEnv *, jclass, jbyte, jobject)
|
||||
{
|
||||
assert(false);
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
|
||||
* Method: getLoopTiming
|
||||
* Signature: (Ljava/nio/IntBuffer;)S
|
||||
*/
|
||||
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getLoopTiming
|
||||
(JNIEnv * env, jclass, jobject status)
|
||||
{
|
||||
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getLoopTimeing";
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
jshort returnValue = getLoopTiming( statusPtr );
|
||||
DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
DIOJNI_LOG(logDEBUG) << "LoopTiming = " << returnValue;
|
||||
return returnValue;
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
|
||||
* Method: getLoopTimingWithModule
|
||||
* Signature: (BLjava/nio/IntBuffer;)S
|
||||
*/
|
||||
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getLoopTimingWithModule
|
||||
(JNIEnv *, jclass, jbyte, jobject)
|
||||
{
|
||||
assert(false);
|
||||
|
||||
}
|
||||
259
wpilibj/wpilibJavaJNI/lib/EncoderJNI.cpp
Normal file
259
wpilibj/wpilibJavaJNI/lib/EncoderJNI.cpp
Normal file
@@ -0,0 +1,259 @@
|
||||
#include <jni.h>
|
||||
#include <assert.h>
|
||||
#include "Log.h"
|
||||
|
||||
#include "edu_wpi_first_wpilibj_hal_EncoderJNI.h"
|
||||
|
||||
#include "HAL/Digital.h"
|
||||
|
||||
// set the logging level
|
||||
TLogLevel encoderJNILogLevel = logDEBUG;
|
||||
|
||||
#define ENCODERJNI_LOG(level) \
|
||||
if (level > encoderJNILogLevel) ; \
|
||||
else Log().Get(level)
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: initializeEncoder
|
||||
* Signature: (BIBBIBBLjava/nio/IntBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
|
||||
*/
|
||||
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder
|
||||
(JNIEnv * env, jclass, jbyte port_a_module, jint port_a_pin, jbyte port_a_analog_trigger, jbyte port_b_module, jint port_b_pin, jbyte port_b_analog_trigger, jbyte reverseDirection, jobject index, jobject status)
|
||||
{
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI initializeEncoder";
|
||||
ENCODERJNI_LOG(logDEBUG) << "Module A = " << (jint)port_a_module;
|
||||
ENCODERJNI_LOG(logDEBUG) << "Pin A = " << port_a_pin;
|
||||
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger A = " << (jint)port_a_analog_trigger;
|
||||
ENCODERJNI_LOG(logDEBUG) << "Module B = " << (jint)port_b_module;
|
||||
ENCODERJNI_LOG(logDEBUG) << "Pin B = " << port_b_pin;
|
||||
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger B = " << (jint)port_b_analog_trigger;
|
||||
ENCODERJNI_LOG(logDEBUG) << "Reverse direction = " << (jint)reverseDirection;
|
||||
jint * indexPtr = (jint*)env->GetDirectBufferAddress(index);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Index Ptr = " << indexPtr;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
void** encoderPtr = (void**)new unsigned char[4];
|
||||
*encoderPtr = initializeEncoder(port_a_module, port_a_pin, port_a_analog_trigger,
|
||||
port_b_module, port_b_pin, port_b_analog_trigger,
|
||||
reverseDirection, indexPtr, statusPtr);
|
||||
|
||||
ENCODERJNI_LOG(logDEBUG) << "Index = " << *indexPtr;
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
ENCODERJNI_LOG(logDEBUG) << "ENCODER Ptr = " << *encoderPtr;
|
||||
return env->NewDirectByteBuffer( encoderPtr, 4);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: freeEncoder
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_freeEncoder
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI freeEncoder";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
freeEncoder(*javaId, statusPtr);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: startEncoder
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_startEncoder
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI startEncoder";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
startEncoder(*javaId, statusPtr);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: stopEncoder
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_stopEncoder
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI stopEncoder";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
stopEncoder(*javaId, statusPtr);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: resetEncoder
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_resetEncoder
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI resetEncoder";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
resetEncoder(*javaId, statusPtr);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: getEncoder
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoder
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoder";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
jint returnValue = getEncoder(*javaId, statusPtr);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
ENCODERJNI_LOG(logDEBUG) << "getEncoderResult = " << returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: getEncoderPeriod
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
|
||||
*/
|
||||
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderPeriod
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderPeriod";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
double returnValue = getEncoderPeriod(*javaId, statusPtr);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
ENCODERJNI_LOG(logDEBUG) << "getEncoderPeriodResult = " << returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: setEncoderMaxPeriod
|
||||
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMaxPeriod
|
||||
(JNIEnv * env, jclass, jobject id, jdouble value, jobject status)
|
||||
{
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderMaxPeriod";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setEncoderMaxPeriod(*javaId, value, statusPtr);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: getEncoderStopped
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderStopped
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderStopped";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
jbyte returnValue = getEncoderStopped(*javaId, statusPtr);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
ENCODERJNI_LOG(logDEBUG) << "getEncoderStoppedResult = " << returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: getEncoderDirection
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDirection
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderDirection";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
jbyte returnValue = getEncoderDirection(*javaId, statusPtr);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
ENCODERJNI_LOG(logDEBUG) << "getEncoderDirectionResult = " << returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: setEncoderReverseDirection
|
||||
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderReverseDirection
|
||||
(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
|
||||
{
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderReverseDirection";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setEncoderReverseDirection(*javaId, value, statusPtr);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: setEncoderSamplesToAverage
|
||||
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderSamplesToAverage
|
||||
(JNIEnv * env, jclass, jobject id, jint value, jobject status)
|
||||
{
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderSamplesToAverage";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setEncoderSamplesToAverage(*javaId, value, statusPtr);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
|
||||
* Method: getEncoderSamplesToAverage
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderSamplesToAverage
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
jint returnValue = getEncoderSamplesToAverage(*javaId, statusPtr);
|
||||
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = " << returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
706
wpilibj/wpilibJavaJNI/lib/FRCNetworkCommunicationsLibrary.cpp
Normal file
706
wpilibj/wpilibJavaJNI/lib/FRCNetworkCommunicationsLibrary.cpp
Normal file
@@ -0,0 +1,706 @@
|
||||
#include <jni.h>
|
||||
#include <assert.h>
|
||||
#include "Log.h"
|
||||
|
||||
#include "edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary.h"
|
||||
#include "HAL/HAL.h"
|
||||
//#include "NetworkCommunication/FRCComm.h"
|
||||
//#include "NetworkCommunication/UsageReporting.h"
|
||||
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: FRC_NetworkCommunication_nAICalibration_getLSBWeight
|
||||
* Signature: (IILjava/lang/Integer;)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationAICalibrationGetLSBWeight
|
||||
(JNIEnv *, jclass, jint, jint, jobject)
|
||||
{
|
||||
assert(false);
|
||||
return 0;
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: FRC_NetworkCommunication_nAICalibration_getOffset
|
||||
* Signature: (IILjava/lang/Integer;)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationAICalibrationGetOffset
|
||||
(JNIEnv *, jclass, jint, jint, jobject)
|
||||
{
|
||||
assert(false);
|
||||
return 0;
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: getModulePresence
|
||||
* Signature: (IB)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getModulePresence
|
||||
(JNIEnv *, jclass, jint, jbyte)
|
||||
{
|
||||
assert(false);
|
||||
return 0;
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: getTargetClass
|
||||
* Signature: ()I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getTargetClass
|
||||
(JNIEnv *, jclass)
|
||||
{
|
||||
assert(false);
|
||||
return 0;
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: FRC_NetworkCommunication_nLoadOut_getModulePresence
|
||||
* Signature: (IB)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationLoadOutGetModulePresence
|
||||
(JNIEnv *, jclass, jint, jbyte)
|
||||
{
|
||||
assert(false);
|
||||
return 0;
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: FRC_NetworkCommunication_nLoadOut_getTargetClass
|
||||
* Signature: ()I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationLoadOutGetTargetClass
|
||||
(JNIEnv *, jclass)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: report
|
||||
* Signature: (IBBLjava/lang/String;)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_report
|
||||
(JNIEnv *, jclass, jint, jbyte, jbyte, jstring)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: FRC_NetworkCommunication_nUsageReporting_report
|
||||
* Signature: (BBBLjava/lang/String;)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationUsageReportingReport
|
||||
(JNIEnv * paramEnv, jclass, jbyte paramResource, jbyte paramInstanceNumber, jbyte paramContext, jstring paramFeature)
|
||||
{
|
||||
FILE_LOG(logDEBUG) << "Calling FRCNetworkCommunicationsLibrary report " << "res:"<< (unsigned int)paramResource << " instance:" << (unsigned int)paramInstanceNumber << " context:" << (unsigned int)paramContext << " feature:" << paramFeature;
|
||||
const char * featureStr = paramEnv->GetStringUTFChars(paramFeature, NULL);
|
||||
jint returnValue = HALReport(paramResource, paramInstanceNumber, paramContext, featureStr);
|
||||
paramEnv->ReleaseStringUTFChars(paramFeature,featureStr);
|
||||
return returnValue;
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: getFPGAHardwareVersion
|
||||
* Signature: (Ljava/nio/ShortBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getFPGAHardwareVersion
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
//
|
||||
// field ids
|
||||
//
|
||||
bool initializeComplete = false;
|
||||
jclass dataClass;
|
||||
jfieldID packetIndexFieldID;
|
||||
jfieldID controlFieldID;
|
||||
jfieldID dsDigitalInFieldID;
|
||||
jfieldID teamIDFieldID;
|
||||
jfieldID dsID_AllianceFieldID;
|
||||
jfieldID dsID_PositionFieldID;
|
||||
jfieldID stick0AxesFieldID;
|
||||
jfieldID stick0ButtonsFieldID;
|
||||
jfieldID stick1AxesFieldID;
|
||||
jfieldID stick1ButtonsFieldID;
|
||||
jfieldID stick2AxesFieldID;
|
||||
jfieldID stick2ButtonsFieldID;
|
||||
jfieldID stick3AxesFieldID;
|
||||
jfieldID stick3ButtonsFieldID;
|
||||
jfieldID analog1FieldID;
|
||||
jfieldID analog2FieldID;
|
||||
jfieldID analog3FieldID;
|
||||
jfieldID analog4FieldID;
|
||||
jfieldID cRIOChecksumFieldID;
|
||||
jfieldID FPGAChecksum0FieldID;
|
||||
jfieldID FPGAChecksum1FieldID;
|
||||
jfieldID FPGAChecksum2FieldID;
|
||||
jfieldID FPGAChecksum3FieldID;
|
||||
jfieldID versionDataFieldID;
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: getCommonControlData
|
||||
* Signature: (Ledu/wpi/first/wpilibj/communication/FRCCommonControlData;I)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getCommonControlData
|
||||
(JNIEnv * env, jclass, jobject controlData)
|
||||
{
|
||||
HALCommonControlData controlDataNative;
|
||||
|
||||
controlDataNative.packetIndex = 0xFF;
|
||||
controlDataNative.control = 0xFF;
|
||||
|
||||
int returnValue = HALGetCommonControlData(&controlDataNative, HAL_WAIT_FOREVER);
|
||||
|
||||
//FILE_LOG(logDEBUG) << "PacketIndex: " << (void*)controlDataNative.packetIndex << " Control: " << (void*)controlDataNative.control << " ReturnValue: " << (void*)returnValue;
|
||||
|
||||
if(!initializeComplete)
|
||||
{
|
||||
// control data class
|
||||
dataClass = (jclass)env->NewGlobalRef(env->GetObjectClass(controlData));
|
||||
//dataClass = env->GetObjectClass(controlData);
|
||||
// public short packetIndex;
|
||||
packetIndexFieldID = env->GetFieldID(dataClass, "packetIndex", "S" );
|
||||
// public byte control;
|
||||
controlFieldID = env->GetFieldID(dataClass, "control", "B" );
|
||||
// public byte dsDigitalIn;
|
||||
dsDigitalInFieldID = env->GetFieldID(dataClass, "dsDigitalIn", "B" );
|
||||
// public short teamID;
|
||||
teamIDFieldID = env->GetFieldID(dataClass, "teamID", "S" );
|
||||
// public byte dsID_Alliance;
|
||||
dsID_AllianceFieldID = env->GetFieldID(dataClass, "dsID_Alliance", "B" );
|
||||
// public byte dsID_Position;
|
||||
dsID_PositionFieldID = env->GetFieldID(dataClass, "dsID_Position", "B" );
|
||||
// public byte[] stick0Axes;
|
||||
stick0AxesFieldID = env->GetFieldID(dataClass, "stick0Axes", "[B" );
|
||||
// public short stick0Buttons;
|
||||
stick0ButtonsFieldID = env->GetFieldID(dataClass, "stick0Buttons", "S" );
|
||||
// public byte[] stick1Axes;
|
||||
stick1AxesFieldID = env->GetFieldID(dataClass, "stick1Axes", "[B" );
|
||||
// public short stick1Buttons;
|
||||
stick1ButtonsFieldID = env->GetFieldID(dataClass, "stick1Buttons", "S" );
|
||||
// public byte[] stick2Axes;
|
||||
stick2AxesFieldID = env->GetFieldID(dataClass, "stick2Axes", "[B" );
|
||||
// public short stick2Buttons;
|
||||
stick2ButtonsFieldID = env->GetFieldID(dataClass, "stick2Buttons", "S" );
|
||||
// public byte[] stick3Axes;
|
||||
stick3AxesFieldID = env->GetFieldID(dataClass, "stick3Axes", "[B" );
|
||||
// public short stick3Buttons;
|
||||
stick3ButtonsFieldID = env->GetFieldID(dataClass, "stick3Buttons", "S" );
|
||||
// public short analog1;
|
||||
analog1FieldID = env->GetFieldID(dataClass, "analog1", "S" );
|
||||
// public short analog2;
|
||||
analog2FieldID = env->GetFieldID(dataClass, "analog2", "S" );
|
||||
// public short analog3;
|
||||
analog3FieldID = env->GetFieldID(dataClass, "analog3", "S" );
|
||||
// public short analog4;
|
||||
analog4FieldID = env->GetFieldID(dataClass, "analog4", "S" );
|
||||
// public long cRIOChecksum;
|
||||
cRIOChecksumFieldID = env->GetFieldID(dataClass, "cRIOChecksum", "J" );
|
||||
// public int FPGAChecksum0;
|
||||
FPGAChecksum0FieldID = env->GetFieldID(dataClass, "FPGAChecksum0", "I" );
|
||||
// public int FPGAChecksum1;
|
||||
FPGAChecksum1FieldID = env->GetFieldID(dataClass, "FPGAChecksum1", "I" );
|
||||
// public int FPGAChecksum2;
|
||||
FPGAChecksum2FieldID = env->GetFieldID(dataClass, "FPGAChecksum2", "I" );
|
||||
// public int FPGAChecksum3;
|
||||
FPGAChecksum3FieldID = env->GetFieldID(dataClass, "FPGAChecksum3", "I" );
|
||||
// public byte[] versionData;
|
||||
versionDataFieldID = env->GetFieldID(dataClass, "versionData", "[B" );
|
||||
|
||||
initializeComplete = true;
|
||||
}
|
||||
|
||||
//FILE_LOG(logDEBUG) << "PacketIndex : " << (short)controlDataNative.packetIndex;
|
||||
env->SetShortField(controlData,packetIndexFieldID, controlDataNative.packetIndex);
|
||||
//FILE_LOG(logDEBUG) << "Control : " << (short)controlDataNative.control;
|
||||
env->SetByteField(controlData,controlFieldID, controlDataNative.control);
|
||||
env->SetByteField(controlData,dsDigitalInFieldID, controlDataNative.dsDigitalIn);
|
||||
env->SetShortField(controlData,teamIDFieldID, controlDataNative.teamID);
|
||||
env->SetByteField(controlData,dsID_AllianceFieldID, controlDataNative.dsID_Alliance);
|
||||
env->SetByteField(controlData,dsID_PositionFieldID, controlDataNative.dsID_Position);
|
||||
|
||||
// process the axes for joystick 0
|
||||
jobject stick0Axes = env->GetObjectField(controlData, stick0AxesFieldID);
|
||||
jbyteArray * stick0AxesPtr = reinterpret_cast<jbyteArray*>(&stick0Axes);
|
||||
jbyte * stick0AxesBytePtr = env->GetByteArrayElements(*stick0AxesPtr,NULL);
|
||||
|
||||
for( short axisCount = 0; axisCount < 6; axisCount++)
|
||||
{
|
||||
stick0AxesBytePtr[axisCount]=controlDataNative.stick0Axes[axisCount];
|
||||
}
|
||||
|
||||
env->ReleaseByteArrayElements(*stick0AxesPtr,stick0AxesBytePtr,0);
|
||||
|
||||
// /** C type : field2_union */
|
||||
// public field2_union field2;
|
||||
// /** Left-most 4 bits are unused */
|
||||
env->SetShortField(controlData,stick0ButtonsFieldID, controlDataNative.stick0Buttons);
|
||||
|
||||
// process the axes for joystick 1
|
||||
jobject stick1Axes = env->GetObjectField(controlData, stick1AxesFieldID);
|
||||
jbyteArray * stick1AxesPtr = reinterpret_cast<jbyteArray*>(&stick1Axes);
|
||||
jbyte * stick1AxesBytePtr = env->GetByteArrayElements(*stick1AxesPtr,NULL);
|
||||
|
||||
for( short axisCount = 0; axisCount < 6; axisCount++)
|
||||
{
|
||||
stick1AxesBytePtr[axisCount]=controlDataNative.stick1Axes[axisCount];
|
||||
}
|
||||
|
||||
env->ReleaseByteArrayElements(*stick1AxesPtr,stick1AxesBytePtr,0);
|
||||
|
||||
// /** C type : field3_union */
|
||||
// public field3_union field3;
|
||||
// /** Left-most 4 bits are unused */
|
||||
env->SetShortField(controlData,stick1ButtonsFieldID, controlDataNative.stick1Buttons);
|
||||
|
||||
// process the axes for joystick 2
|
||||
jobject stick2Axes = env->GetObjectField(controlData, stick2AxesFieldID);
|
||||
jbyteArray * stick2AxesPtr = reinterpret_cast<jbyteArray*>(&stick2Axes);
|
||||
jbyte * stick2AxesBytePtr = env->GetByteArrayElements(*stick2AxesPtr,NULL);
|
||||
|
||||
for( short axisCount = 0; axisCount < 6; axisCount++)
|
||||
{
|
||||
stick2AxesBytePtr[axisCount]=controlDataNative.stick2Axes[axisCount];
|
||||
}
|
||||
|
||||
env->ReleaseByteArrayElements(*stick2AxesPtr,stick2AxesBytePtr,0);
|
||||
|
||||
// /** C type : field4_union */
|
||||
// public field4_union field4;
|
||||
// /** Left-most 4 bits are unused */
|
||||
env->SetShortField(controlData,stick2ButtonsFieldID, controlDataNative.stick2Buttons);
|
||||
|
||||
// process the axes for joystick 3
|
||||
jobject stick3Axes = env->GetObjectField(controlData, stick3AxesFieldID);
|
||||
jbyteArray * stick3AxesPtr = reinterpret_cast<jbyteArray*>(&stick3Axes);
|
||||
jbyte * stick3AxesBytePtr = env->GetByteArrayElements(*stick3AxesPtr,NULL);
|
||||
|
||||
for( short axisCount = 0; axisCount < 6; axisCount++)
|
||||
{
|
||||
stick3AxesBytePtr[axisCount]=controlDataNative.stick3Axes[axisCount];
|
||||
}
|
||||
|
||||
env->ReleaseByteArrayElements(*stick3AxesPtr,stick3AxesBytePtr,0);
|
||||
|
||||
// /** C type : field5_union */
|
||||
// public field5_union field5;
|
||||
// /** Left-most 4 bits are unused */
|
||||
env->SetShortField(controlData,stick3ButtonsFieldID, controlDataNative.stick3Buttons);
|
||||
// /** Analog inputs are 10 bit right-justified */
|
||||
env->SetShortField(controlData,analog1FieldID, controlDataNative.analog1);
|
||||
env->SetShortField(controlData,analog2FieldID, controlDataNative.analog2);
|
||||
env->SetShortField(controlData,analog3FieldID, controlDataNative.analog3);
|
||||
env->SetShortField(controlData,analog4FieldID, controlDataNative.analog4);
|
||||
env->SetLongField(controlData,cRIOChecksumFieldID, controlDataNative.cRIOChecksum);
|
||||
env->SetIntField(controlData,FPGAChecksum0FieldID, controlDataNative.FPGAChecksum0);
|
||||
env->SetIntField(controlData,FPGAChecksum1FieldID, controlDataNative.FPGAChecksum1);
|
||||
env->SetIntField(controlData,FPGAChecksum2FieldID, controlDataNative.FPGAChecksum2);
|
||||
env->SetIntField(controlData,FPGAChecksum3FieldID, controlDataNative.FPGAChecksum3);
|
||||
// /** C type : char[8] */
|
||||
// public byte[] versionData;
|
||||
jobject versionData = env->GetObjectField(controlData, versionDataFieldID);
|
||||
jbyteArray * versionDataPtr = reinterpret_cast<jbyteArray*>(&versionData);
|
||||
jbyte * versionDataBytePtr = env->GetByteArrayElements(*versionDataPtr,NULL);
|
||||
|
||||
for( short byteCount = 0; byteCount < 8; byteCount++)
|
||||
{
|
||||
versionDataBytePtr[byteCount]=controlDataNative.versionData[byteCount];
|
||||
}
|
||||
|
||||
env->ReleaseByteArrayElements(*versionDataPtr,versionDataBytePtr,0);
|
||||
|
||||
return returnValue;
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: getRecentCommonControlData
|
||||
* Signature: (Ledu/wpi/first/wpilibj/communication/FRCCommonControlData;I)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getRecentCommonControlData
|
||||
(JNIEnv *, jclass, jobject, jint)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: getRecentStatusData
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/ByteBuffer;Ljava/nio/ByteBuffer;I)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getRecentStatusData
|
||||
(JNIEnv *, jclass, jobject, jobject, jobject, jint)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: getDynamicControlData
|
||||
* Signature: (BLjava/nio/ByteBuffer;II)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getDynamicControlData
|
||||
(JNIEnv *, jclass, jbyte, jobject, jint, jint)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: setStatusData
|
||||
* Signature: (FBBLjava/lang/String;ILjava/lang/String;II)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setStatusData
|
||||
(JNIEnv * env, jclass, jfloat paramBattery, jbyte param1, jbyte param2, jstring paramUserDataHigh, jint param4, jstring paramUserDataLow, jint param6)
|
||||
{
|
||||
//FILE_LOG(logDEBUG) << "Voltage - " << paramBattery;
|
||||
const char * userDataHighStr = env->GetStringUTFChars(paramUserDataHigh, NULL);
|
||||
const char * userDataLowStr = env->GetStringUTFChars(paramUserDataLow, NULL);
|
||||
jint returnValue = HALSetStatusData(paramBattery, param1, param2, userDataHighStr, param4, userDataLowStr, param6, HAL_WAIT_FOREVER );
|
||||
env->ReleaseStringUTFChars(paramUserDataHigh,userDataHighStr);
|
||||
env->ReleaseStringUTFChars(paramUserDataLow,userDataLowStr);
|
||||
return returnValue;
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: setStatusDataFloatAsInt
|
||||
* Signature: (IBBLjava/lang/String;ILjava/lang/String;II)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setStatusDataFloatAsInt
|
||||
(JNIEnv *, jclass, jint, jbyte, jbyte, jstring, jint, jstring, jint, jint)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: setErrorData
|
||||
* Signature: (Ljava/lang/String;II)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setErrorData
|
||||
(JNIEnv *, jclass, jstring, jint, jint)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: setUserDsLcdData
|
||||
* Signature: (Ljava/lang/String;II)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setUserDsLcdData
|
||||
(JNIEnv *, jclass, jstring, jint, jint)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: overrideIOConfig
|
||||
* Signature: (Ljava/lang/String;I)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_overrideIOConfig
|
||||
(JNIEnv *, jclass, jstring, jint)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: signalResyncActionDone
|
||||
* Signature: ()V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_signalResyncActionDone
|
||||
(JNIEnv *, jclass)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: setNewDataOccurRef
|
||||
* Signature: (I)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setNewDataOccurRef
|
||||
(JNIEnv *, jclass, jint)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: setResyncOccurRef
|
||||
* Signature: (I)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setResyncOccurRef
|
||||
(JNIEnv *, jclass, jint)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: FRC_NetworkCommunication_getVersionString
|
||||
* Signature: (Ljava/nio/ByteBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationGetVersionString
|
||||
(JNIEnv *, jclass, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: FRC_NetworkCommunication_observeUserProgramStarting
|
||||
* Signature: ()V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramStarting
|
||||
(JNIEnv *, jclass)
|
||||
{
|
||||
HALNetworkCommunicationObserveUserProgramStarting();
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: FRC_NetworkCommunication_observeUserProgramDisabled
|
||||
* Signature: ()V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramDisabled
|
||||
(JNIEnv *, jclass)
|
||||
{
|
||||
HALNetworkCommunicationObserveUserProgramDisabled();
|
||||
}
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: FRC_NetworkCommunication_observeUserProgramAutonomous
|
||||
* Signature: ()V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramAutonomous
|
||||
(JNIEnv *, jclass)
|
||||
{
|
||||
HALNetworkCommunicationObserveUserProgramAutonomous();
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: FRC_NetworkCommunication_observeUserProgramTeleop
|
||||
* Signature: ()V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTeleop
|
||||
(JNIEnv *, jclass)
|
||||
{
|
||||
HALNetworkCommunicationObserveUserProgramTeleop();
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
|
||||
* Method: FRC_NetworkCommunication_observeUserProgramTest
|
||||
* Signature: ()V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTest
|
||||
(JNIEnv *, jclass)
|
||||
{
|
||||
HALNetworkCommunicationObserveUserProgramTest();
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
||||
* Method: FRCNetworkCommunicationReserve
|
||||
* Signature: ()V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationReserve
|
||||
(JNIEnv *, jclass)
|
||||
{
|
||||
HALNetworkCommunicationReserve();
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
||||
* Method: setNewDataSem
|
||||
* Signature: ([B)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setNewDataSem
|
||||
(JNIEnv * env, jclass, jobject id )
|
||||
{
|
||||
MUTEX_ID* javaId = (MUTEX_ID*)env->GetDirectBufferAddress(id);
|
||||
FILE_LOG(logDEBUG) << "Mutex Ptr = " << *javaId;
|
||||
HALSetNewDataSem(*javaId);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
||||
* Method: JNIValueParameterTest
|
||||
* Signature: (ZBCSIJFD)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueParameterTest
|
||||
(JNIEnv *, jclass, jboolean booleanParam, jbyte byteParam, jchar charParam, jshort shortParam, jint intParam, jlong longParam, jfloat floatParam, jdouble doubleParam)
|
||||
{
|
||||
FILE_LOG(logDEBUG) << "Boolean: " << booleanParam;
|
||||
FILE_LOG(logDEBUG) << "Byte : " << byteParam;
|
||||
FILE_LOG(logDEBUG) << "Char : " << charParam;
|
||||
FILE_LOG(logDEBUG) << "Short : " << shortParam;
|
||||
FILE_LOG(logDEBUG) << "Int : " << intParam;
|
||||
FILE_LOG(logDEBUG) << "Long : " << longParam;
|
||||
FILE_LOG(logDEBUG) << "Float : " << floatParam;
|
||||
FILE_LOG(logDEBUG) << "Double : " << doubleParam;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
||||
* Method: JNIValueReturnBooleanTest
|
||||
* Signature: (Z)Z
|
||||
*/
|
||||
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnBooleanTest
|
||||
(JNIEnv *, jclass, jboolean booleanParam )
|
||||
{
|
||||
FILE_LOG(logDEBUG) << "Boolean: " << booleanParam;
|
||||
return !booleanParam;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
||||
* Method: JNIValueReturnByteTest
|
||||
* Signature: (B)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnByteTest
|
||||
(JNIEnv *, jclass, jbyte byteParam)
|
||||
{
|
||||
FILE_LOG(logDEBUG) << "Byte: " << byteParam;
|
||||
return byteParam+1;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
||||
* Method: JNIValueReturnCharTest
|
||||
* Signature: (C)C
|
||||
*/
|
||||
JNIEXPORT jchar JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnCharTest
|
||||
(JNIEnv *, jclass, jchar charParam)
|
||||
{
|
||||
FILE_LOG(logDEBUG) << "Char: " << charParam;
|
||||
return charParam+1;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
||||
* Method: JNIValueReturnShortTest
|
||||
* Signature: (S)S
|
||||
*/
|
||||
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnShortTest
|
||||
(JNIEnv *, jclass, jshort shortParam)
|
||||
{
|
||||
FILE_LOG(logDEBUG) << "Short: " << shortParam;
|
||||
return shortParam+1;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
||||
* Method: JNIValueReturnIntTest
|
||||
* Signature: (I)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnIntTest
|
||||
(JNIEnv *, jclass, jint intParam)
|
||||
{
|
||||
FILE_LOG(logDEBUG) << "Int: " << intParam;
|
||||
return intParam+1;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
||||
* Method: JNIValueReturnLongTest
|
||||
* Signature: (J)J
|
||||
*/
|
||||
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnLongTest
|
||||
(JNIEnv *, jclass, jlong longParam)
|
||||
{
|
||||
FILE_LOG(logDEBUG) << "Long: " << longParam;
|
||||
return longParam+1;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
||||
* Method: JNIValueReturnFloatTest
|
||||
* Signature: (F)F
|
||||
*/
|
||||
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnFloatTest
|
||||
(JNIEnv *, jclass, jfloat floatParam)
|
||||
{
|
||||
FILE_LOG(logDEBUG) << "Float: " << floatParam;
|
||||
return floatParam/100.0f;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
||||
* Method: JNIValueReturnDoubleTest
|
||||
* Signature: (D)D
|
||||
*/
|
||||
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnDoubleTest
|
||||
(JNIEnv *, jclass, jdouble doubleParam)
|
||||
{
|
||||
FILE_LOG(logDEBUG) << "Double: " << doubleParam;
|
||||
return doubleParam * 100.0;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
||||
* Method: JNIObjectReturnString
|
||||
* Signature: (Ljava/lang/String;)Ljava/lang/String;
|
||||
*/
|
||||
JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIObjectReturnStringTest
|
||||
(JNIEnv * env, jclass, jstring stringParam)
|
||||
{
|
||||
const char * stringParamLocal = env->GetStringUTFChars(stringParam, NULL);
|
||||
FILE_LOG(logDEBUG) << "String: " << stringParamLocal;
|
||||
env->ReleaseStringUTFChars(stringParam,stringParamLocal);
|
||||
|
||||
char returnStringLocal[] = "this is the return string";
|
||||
|
||||
return env->NewStringUTF(returnStringLocal);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
||||
* Method: JNIObjectReturnByteBufferTest
|
||||
* Signature: (Ljava/nio/ByteBuffer;)Ljava/nio/ByteBuffer;
|
||||
*/
|
||||
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIObjectReturnByteBufferTest
|
||||
(JNIEnv * env, jclass, jobject byteArrayIn )
|
||||
{
|
||||
jbyte * byteArray = (jbyte*)env->GetDirectBufferAddress(byteArrayIn);
|
||||
FILE_LOG(logDEBUG) << "Ptr: " << (long)byteArray;
|
||||
jlong byteArrayLength = env->GetDirectBufferCapacity(byteArrayIn);
|
||||
FILE_LOG(logDEBUG) << "Capacity: " << byteArrayLength;
|
||||
FILE_LOG(logDEBUG) << "Byte0: " << (short)byteArray[0];
|
||||
FILE_LOG(logDEBUG) << "Byte1: " << (short)byteArray[1];
|
||||
FILE_LOG(logDEBUG) << "Byte2: " << (short)byteArray[2];
|
||||
FILE_LOG(logDEBUG) << "Byte3: " << (short)byteArray[3];
|
||||
|
||||
jbyte * returnByteArray = new jbyte[4];
|
||||
returnByteArray[0] = byteArray[0];
|
||||
returnByteArray[1] = byteArray[1];
|
||||
returnByteArray[2] = byteArray[2];
|
||||
returnByteArray[3] = byteArray[3];
|
||||
|
||||
return env->NewDirectByteBuffer(returnByteArray, 4);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
||||
* Method: JNIObjectAndParamReturnIntBufferTest
|
||||
* Signature: (Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
|
||||
*/
|
||||
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIObjectAndParamReturnIntBufferTest
|
||||
(JNIEnv * env, jclass, jobject intArrayIn)
|
||||
{
|
||||
jint * intArray = (jint*)env->GetDirectBufferAddress(intArrayIn);
|
||||
jbyte * byteArray = (jbyte*)env->GetDirectBufferAddress(intArrayIn);
|
||||
FILE_LOG(logDEBUG) << "Ptr: " << (long)intArray;
|
||||
jlong byteArrayLength = env->GetDirectBufferCapacity(intArrayIn);
|
||||
FILE_LOG(logDEBUG) << "Capacity: " << byteArrayLength;
|
||||
FILE_LOG(logDEBUG) << "Int0: " << intArray[0];
|
||||
FILE_LOG(logDEBUG) << "Byte0: " << (short)byteArray[0];
|
||||
FILE_LOG(logDEBUG) << "Byte1: " << (short)byteArray[1];
|
||||
FILE_LOG(logDEBUG) << "Byte2: " << (short)byteArray[2];
|
||||
FILE_LOG(logDEBUG) << "Byte3: " << (short)byteArray[3];
|
||||
|
||||
// increment the param
|
||||
intArray[0]++;
|
||||
|
||||
jbyte * returnByteArray = new jbyte[4];
|
||||
returnByteArray[0] = byteArray[0];
|
||||
returnByteArray[1] = byteArray[1];
|
||||
returnByteArray[2] = byteArray[2];
|
||||
returnByteArray[3] = byteArray[3];
|
||||
|
||||
return env->NewDirectByteBuffer(returnByteArray, 4);
|
||||
}
|
||||
130
wpilibj/wpilibJavaJNI/lib/HALUtil.cpp
Normal file
130
wpilibj/wpilibJavaJNI/lib/HALUtil.cpp
Normal file
@@ -0,0 +1,130 @@
|
||||
#include <jni.h>
|
||||
#include <assert.h>
|
||||
#include "Log.h"
|
||||
#include "edu_wpi_first_wpilibj_hal_HALUtil.h"
|
||||
#include "HAL/HAL.h"
|
||||
|
||||
// set the logging level
|
||||
TLogLevel halUtilLogLevel = logDEBUG;
|
||||
|
||||
#define HALUTIL_LOG(level) \
|
||||
if (level > halUtilLogLevel) ; \
|
||||
else Log().Get(level)
|
||||
|
||||
|
||||
//
|
||||
// indicate JNI version support desired
|
||||
//
|
||||
JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved)
|
||||
{
|
||||
// set our logging level
|
||||
Log::ReportingLevel() = logDEBUG;
|
||||
return JNI_VERSION_1_6;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_HALUtil
|
||||
* Method: initializeMutex
|
||||
* Signature: (I)Ljava/nio/ByteBuffer;
|
||||
*/
|
||||
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_initializeMutexNormal
|
||||
(JNIEnv * env, jclass)
|
||||
{
|
||||
HALUTIL_LOG(logDEBUG) << "Calling HALUtil initializeMutex";
|
||||
MUTEX_ID* mutexPtr = (MUTEX_ID*)new unsigned char[4];
|
||||
*mutexPtr = initializeMutexNormal();
|
||||
HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << *mutexPtr;
|
||||
return env->NewDirectByteBuffer( mutexPtr, 4);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_HALUtil
|
||||
* Method: deleteMutex
|
||||
* Signature: (Ljava/nio/ByteBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_deleteMutex
|
||||
(JNIEnv * env, jclass, jobject id )
|
||||
{
|
||||
HALUTIL_LOG(logDEBUG) << "Calling HALUtil deleteMutex";
|
||||
MUTEX_ID* javaId = (MUTEX_ID*)env->GetDirectBufferAddress(id);
|
||||
HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << *javaId;
|
||||
deleteMutex( *javaId );
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_HALUtil
|
||||
* Method: takeMutex
|
||||
* Signature: (Ljava/nio/ByteBuffer;I)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_takeMutex
|
||||
(JNIEnv * env, jclass, jobject id)
|
||||
{
|
||||
//HALUTIL_LOG(logDEBUG) << "Calling HALUtil takeMutex";
|
||||
MUTEX_ID* javaId = (MUTEX_ID*)env->GetDirectBufferAddress(id);
|
||||
//HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << *javaId;
|
||||
jbyte returnValue = takeMutex(*javaId);
|
||||
//HALUTIL_LOG(logDEBUG) << "Take Result = " << (void*)returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_HALUtil
|
||||
* Method: getFPGAVersion
|
||||
* Signature: (Ljava/nio/IntBuffer;)S
|
||||
*/
|
||||
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAVersion
|
||||
(JNIEnv * env, jclass, jobject status)
|
||||
{
|
||||
HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGAVersion";
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
jshort returnValue = getFPGAVersion( statusPtr );
|
||||
HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
HALUTIL_LOG(logDEBUG) << "FPGAVersion = " << returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_HALUtil
|
||||
* Method: getFPGARevision
|
||||
* Signature: (Ljava/nio/IntBuffer;)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGARevision
|
||||
(JNIEnv * env, jclass, jobject status)
|
||||
{
|
||||
HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGARevision";
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
jint returnValue = getFPGARevision( statusPtr );
|
||||
HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
HALUTIL_LOG(logDEBUG) << "FPGARevision = " << returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_HALUtil
|
||||
* Method: getFPGATime
|
||||
* Signature: (Ljava/nio/IntBuffer;)I
|
||||
*/
|
||||
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGATime
|
||||
(JNIEnv * env, jclass, jobject status)
|
||||
{
|
||||
//HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
jlong returnValue = getFPGATime( statusPtr );
|
||||
//HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
//HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
|
||||
return returnValue;
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_HALUtil
|
||||
* Method: getHALErrorMessage
|
||||
* Signature: (I)Ljava/lang/String;
|
||||
*/
|
||||
JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrorMessage
|
||||
(JNIEnv * paramEnv, jclass, jint paramId)
|
||||
{
|
||||
const char * msg = getHALErrorMessage(paramId);
|
||||
HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALErrorMessage id=" << paramId << " msg=" << msg;
|
||||
return paramEnv->NewStringUTF(msg);
|
||||
}
|
||||
35
wpilibj/wpilibJavaJNI/lib/I2CJNI.cpp
Normal file
35
wpilibj/wpilibJavaJNI/lib/I2CJNI.cpp
Normal file
@@ -0,0 +1,35 @@
|
||||
#include <jni.h>
|
||||
#include <assert.h>
|
||||
#include "Log.h"
|
||||
|
||||
#include "edu_wpi_first_wpilibj_hal_I2CJNI.h"
|
||||
|
||||
|
||||
// set the logging level
|
||||
TLogLevel i2cJNILogLevel = logDEBUG;
|
||||
|
||||
#define I2CJNI_LOG(level) \
|
||||
if (level > i2cJNILogLevel) ; \
|
||||
else Log().Get(level)
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
|
||||
* Method: doI2CTransaction
|
||||
* Signature: (BBLjava/nio/ByteBuffer;BLjava/nio/ByteBuffer;BLjava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_doI2CTransaction
|
||||
(JNIEnv *, jclass, jbyte, jbyte, jobject, jbyte, jobject, jbyte, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
|
||||
* Method: doI2CTransactionWithModule
|
||||
* Signature: (BBBLjava/nio/ByteBuffer;BLjava/nio/ByteBuffer;BLjava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_doI2CTransactionWithModule
|
||||
(JNIEnv *, jclass, jbyte, jbyte, jbyte, jobject, jbyte, jobject, jbyte, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
113
wpilibj/wpilibJavaJNI/lib/InterruptJNI.cpp
Normal file
113
wpilibj/wpilibJavaJNI/lib/InterruptJNI.cpp
Normal file
@@ -0,0 +1,113 @@
|
||||
#include <jni.h>
|
||||
#include <assert.h>
|
||||
#include "Log.h"
|
||||
|
||||
#include "edu_wpi_first_wpilibj_hal_InterruptJNI.h"
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
|
||||
* Method: initializeInterrupts
|
||||
* Signature: (IBLjava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
|
||||
*/
|
||||
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeInterrupts
|
||||
(JNIEnv *, jclass, jint, jbyte, jobject)
|
||||
{
|
||||
assert(false);
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
|
||||
* Method: cleanInterrupts
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_cleanInterrupts
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
|
||||
* Method: waitForInterrupt
|
||||
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterrupt
|
||||
(JNIEnv *, jclass, jobject, jdouble, jobject)
|
||||
{
|
||||
assert(false);
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
|
||||
* Method: enableInterrupts
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_enableInterrupts
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
|
||||
* Method: disableInterrupts
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterrupts
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
|
||||
* Method: readInterruptTimestamp
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
|
||||
*/
|
||||
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterruptTimestamp
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
|
||||
* Method: requestInterrupts
|
||||
* Signature: (Ljava/nio/ByteBuffer;BIBLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_requestInterrupts
|
||||
(JNIEnv *, jclass, jobject, jbyte, jint, jbyte, jobject)
|
||||
{
|
||||
assert(false);
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
|
||||
* Method: attachInterruptHandler
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ledu/wpi/first/wpilibj/hal/InterruptJNI/InterruptHandlerFunction;Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler
|
||||
(JNIEnv *, jclass, jobject, jobject, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
|
||||
* Method: setInterruptUpSourceEdge
|
||||
* Signature: (Ljava/nio/ByteBuffer;BBLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_setInterruptUpSourceEdge
|
||||
(JNIEnv *, jclass, jobject, jbyte, jbyte, jobject)
|
||||
{
|
||||
assert(false);
|
||||
|
||||
}
|
||||
25
wpilibj/wpilibJavaJNI/lib/JNIWrapper.cpp
Normal file
25
wpilibj/wpilibJavaJNI/lib/JNIWrapper.cpp
Normal file
@@ -0,0 +1,25 @@
|
||||
#include <jni.h>
|
||||
#include <assert.h>
|
||||
#include "Log.h"
|
||||
|
||||
#include "edu_wpi_first_wpilibj_hal_JNIWrapper.h"
|
||||
|
||||
#include "HAL/HAL.h"
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_JNIWrapper
|
||||
* Method: getPortWithModule
|
||||
* Signature: (BB)Ljava/nio/ByteBuffer;
|
||||
*/
|
||||
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_JNIWrapper_getPortWithModule
|
||||
(JNIEnv * env, jclass, jbyte module, jbyte pin)
|
||||
{
|
||||
//FILE_LOG(logDEBUG) << "Calling JNIWrapper getPortWithModlue";
|
||||
//FILE_LOG(logDEBUG) << "Module = " << (jint)module;
|
||||
//FILE_LOG(logDEBUG) << "Pin = " << (jint)pin;
|
||||
void** portPtr = (void**)new unsigned char[4];
|
||||
*portPtr = getPortWithModule(module,pin);
|
||||
//FILE_LOG(logDEBUG) << "Port Ptr = " << *portPtr;
|
||||
return env->NewDirectByteBuffer( portPtr, 4);
|
||||
}
|
||||
|
||||
244
wpilibj/wpilibJavaJNI/lib/PWMJNI.cpp
Normal file
244
wpilibj/wpilibJavaJNI/lib/PWMJNI.cpp
Normal file
@@ -0,0 +1,244 @@
|
||||
#include <jni.h>
|
||||
#include <assert.h>
|
||||
#include "Log.h"
|
||||
|
||||
#include "edu_wpi_first_wpilibj_hal_PWMJNI.h"
|
||||
|
||||
#include "HAL/Digital.h"
|
||||
|
||||
// set the logging level
|
||||
TLogLevel pwmJNILogLevel = logERROR;
|
||||
|
||||
#define PWMJNI_LOG(level) \
|
||||
if (level > pwmJNILogLevel) ; \
|
||||
else Log().Get(level)
|
||||
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
|
||||
* Method: setPWM
|
||||
* Signature: (Ljava/nio/ByteBuffer;SLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWM
|
||||
(JNIEnv * env, jclass, jobject id, jshort value, jobject status)
|
||||
{
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
PWMJNI_LOG(logDEBUG) << "DigitalPort Ptr = " << *javaId;
|
||||
PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
setPWM( *javaId, value, statusPtr );
|
||||
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
|
||||
* Method: getPWM
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)S
|
||||
*/
|
||||
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWM
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
jshort returnValue = getPWM( *javaId, statusPtr );
|
||||
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
|
||||
* Method: setPWMPeriodScale
|
||||
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPeriodScale
|
||||
(JNIEnv * env, jclass, jobject id, jint value, jobject status )
|
||||
{
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
PWMJNI_LOG(logDEBUG) << "DigitalPort Ptr = " << *javaId;
|
||||
PWMJNI_LOG(logDEBUG) << "PeriodScale Value = " << value;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
setPWMPeriodScale( *javaId, value, statusPtr );
|
||||
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
|
||||
* Method: allocatePWM
|
||||
* Signature: (Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
|
||||
*/
|
||||
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_allocatePWM
|
||||
(JNIEnv * env, jclass, jobject status)
|
||||
{
|
||||
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI allocatePWM";
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
void** pwmPtr = (void**)new unsigned char[4];
|
||||
*pwmPtr = allocatePWM(statusPtr);
|
||||
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *pwmPtr;
|
||||
return env->NewDirectByteBuffer( pwmPtr, 4);
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
|
||||
* Method: allocatePWMWithModule
|
||||
* Signature: (BLjava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
|
||||
*/
|
||||
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_allocatePWMWithModule
|
||||
(JNIEnv * env, jclass, jbyte module, jobject status)
|
||||
{
|
||||
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI allocatePWMWithModule";
|
||||
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
void** pwmPtr = (void**)new unsigned char[4];
|
||||
*pwmPtr = allocatePWMWithModule(module, statusPtr);
|
||||
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *pwmPtr;
|
||||
return env->NewDirectByteBuffer( pwmPtr, 4);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
|
||||
* Method: freePWM
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWM
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWM";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
freePWM(*javaId, statusPtr);
|
||||
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
|
||||
* Method: freePWMWithModule
|
||||
* Signature: (BLjava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWMWithModule
|
||||
(JNIEnv * env, jclass, jbyte module, jobject id, jobject status)
|
||||
{
|
||||
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWMWithModule";
|
||||
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
freePWMWithModule(module, *javaId, statusPtr);
|
||||
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
|
||||
* Method: setPWMRate
|
||||
* Signature: (DLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRate
|
||||
(JNIEnv * env, jclass, jdouble value, jobject status)
|
||||
{
|
||||
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMRate";
|
||||
PWMJNI_LOG(logDEBUG) << "Rate= " << value;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setPWMRate(value, statusPtr);
|
||||
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
|
||||
* Method: setPWMRateWithModule
|
||||
* Signature: (BDLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRateWithModule
|
||||
(JNIEnv * env, jclass, jbyte module, jdouble value, jobject status)
|
||||
{
|
||||
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMRateWithModule";
|
||||
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
|
||||
PWMJNI_LOG(logDEBUG) << "Rate= " << value;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setPWMRateWithModule(module, value, statusPtr);
|
||||
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
|
||||
* Method: setPWMDutyCycle
|
||||
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDutyCycle
|
||||
(JNIEnv * env, jclass, jobject id, jdouble value, jobject status)
|
||||
{
|
||||
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMDutyCycle";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
|
||||
PWMJNI_LOG(logDEBUG) << "DutyCycle= " << value;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setPWMDutyCycle(*javaId, value, statusPtr);
|
||||
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
|
||||
* Method: setPWMDutyCycleWithModule
|
||||
* Signature: (BLjava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDutyCycleWithModule
|
||||
(JNIEnv * env, jclass, jbyte module, jobject id, jdouble value, jobject status)
|
||||
{
|
||||
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMDutyCycleWithModule";
|
||||
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
|
||||
PWMJNI_LOG(logDEBUG) << "DutyCycle= " << value;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setPWMDutyCycleWithModule( module, *javaId, value, statusPtr);
|
||||
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
|
||||
* Method: setPWMOutputChannel
|
||||
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMOutputChannel
|
||||
(JNIEnv * env, jclass, jobject id, jint value, jobject status)
|
||||
{
|
||||
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMOutputChannel";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
|
||||
PWMJNI_LOG(logDEBUG) << "Pin= " << value;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setPWMOutputChannel(*javaId, (uint32_t) value, statusPtr);
|
||||
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
|
||||
* Method: setPWMOutputChannelWithModule
|
||||
* Signature: (BLjava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMOutputChannelWithModule
|
||||
(JNIEnv * env, jclass, jbyte module, jobject id, jint value, jobject status)
|
||||
{
|
||||
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMOutputChannelWithModule";
|
||||
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
|
||||
PWMJNI_LOG(logDEBUG) << "Pin= " << value;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setPWMOutputChannelWithModule( module, *javaId, (uint32_t) value, statusPtr);
|
||||
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
88
wpilibj/wpilibJavaJNI/lib/RelayJNI.cpp
Normal file
88
wpilibj/wpilibJavaJNI/lib/RelayJNI.cpp
Normal file
@@ -0,0 +1,88 @@
|
||||
#include <jni.h>
|
||||
#include <assert.h>
|
||||
#include "Log.h"
|
||||
|
||||
#include "edu_wpi_first_wpilibj_hal_RelayJNI.h"
|
||||
|
||||
#include "HAL/Digital.h"
|
||||
|
||||
// set the logging level
|
||||
TLogLevel relayJNILogLevel = logDEBUG;
|
||||
|
||||
#define RELAYJNI_LOG(level) \
|
||||
if (level > relayJNILogLevel) ; \
|
||||
else Log().Get(level)
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_RelayJNI
|
||||
* Method: setRelayForward
|
||||
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_setRelayForward
|
||||
(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
|
||||
{
|
||||
RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI setRelayForward";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
RELAYJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
|
||||
RELAYJNI_LOG(logDEBUG) << "Flag = " << (jint)value;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
RELAYJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setRelayForward(*javaId, value, statusPtr);
|
||||
RELAYJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_RelayJNI
|
||||
* Method: setRelayReverse
|
||||
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_setRelayReverse
|
||||
(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
|
||||
{
|
||||
RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI setRelayReverse";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
RELAYJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
|
||||
RELAYJNI_LOG(logDEBUG) << "Flag = " << (jint)value;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
RELAYJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
setRelayReverse(*javaId, value, statusPtr);
|
||||
RELAYJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_RelayJNI
|
||||
* Method: getRelayForward
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_getRelayForward
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI getRelayForward";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
RELAYJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
RELAYJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
jbyte returnValue = getRelayForward(*javaId, statusPtr);
|
||||
RELAYJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
RELAYJNI_LOG(logDEBUG) << "getRelayForwardResult = " << (jint)returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_RelayJNI
|
||||
* Method: getRelayReverse
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_getRelayReverse
|
||||
(JNIEnv * env, jclass, jobject id, jobject status)
|
||||
{
|
||||
RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI getRelayReverse";
|
||||
void ** javaId = (void**)env->GetDirectBufferAddress(id);
|
||||
RELAYJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
|
||||
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
||||
RELAYJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
|
||||
jbyte returnValue = getRelayReverse(*javaId, statusPtr);
|
||||
RELAYJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
||||
RELAYJNI_LOG(logDEBUG) << "getRelayReverseResult = " << (jint)returnValue;
|
||||
return returnValue;
|
||||
}
|
||||
289
wpilibj/wpilibJavaJNI/lib/SPIJNI.cpp
Normal file
289
wpilibj/wpilibJavaJNI/lib/SPIJNI.cpp
Normal file
@@ -0,0 +1,289 @@
|
||||
#include <jni.h>
|
||||
#include <assert.h>
|
||||
#include "Log.h"
|
||||
|
||||
#include "edu_wpi_first_wpilibj_hal_SPIJNI.h"
|
||||
|
||||
|
||||
// set the logging level
|
||||
TLogLevel spiJNILogLevel = logDEBUG;
|
||||
|
||||
#define SPIJNI_LOG(level) \
|
||||
if (level > spiJNILogLevel) ; \
|
||||
else Log().Get(level)
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: initializeSPI
|
||||
* Signature: (BIBIBILjava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
|
||||
*/
|
||||
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_initializeSPI
|
||||
(JNIEnv *, jclass, jbyte, jint, jbyte, jint, jbyte, jint, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: cleanSPI
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_cleanSPI
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: setSPIBitsPerWord
|
||||
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPIBitsPerWord
|
||||
(JNIEnv *, jclass, jobject, jint, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: getSPIBitsPerWord
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_getSPIBitsPerWord
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: setSPIClockRate
|
||||
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPIClockRate
|
||||
(JNIEnv *, jclass, jobject, jdouble, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: setSPIMSBFirst
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPIMSBFirst
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: setSPILSBFirst
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPILSBFirst
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: setSPISampleDataOnFalling
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPISampleDataOnFalling
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: setSPISampleDataOnRising
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPISampleDataOnRising
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: setSPISlaveSelect
|
||||
* Signature: (Ljava/nio/ByteBuffer;BILjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPISlaveSelect
|
||||
(JNIEnv *, jclass, jobject, jbyte, jint, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: setSPILatchMode
|
||||
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPILatchMode
|
||||
(JNIEnv *, jclass, jobject, jint, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: getSPILatchMode
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_getSPILatchMode
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: setSPIFramePolarity
|
||||
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPIFramePolarity
|
||||
(JNIEnv *, jclass, jobject, jbyte, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: getSPIFramePolarity
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_getSPIFramePolarity
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: setSPIClockActiveLow
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPIClockActiveLow
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: setSPIClockActiveHigh
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPIClockActiveHigh
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: applySPIConfig
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_applySPIConfig
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: getSPIOutputFIFOAvailable
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)S
|
||||
*/
|
||||
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_getSPIOutputFIFOAvailable
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: getSPINumReceived
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)S
|
||||
*/
|
||||
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_getSPINumReceived
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: isSPIDone
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_isSPIDone
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: hadSPIReceiveOverflow
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
|
||||
*/
|
||||
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_hadSPIReceiveOverflow
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: writeSPI
|
||||
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_writeSPI
|
||||
(JNIEnv *, jclass, jobject, jint, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: readSPI
|
||||
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)I
|
||||
*/
|
||||
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_readSPI
|
||||
(JNIEnv *, jclass, jobject, jbyte, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: resetSPI
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_resetSPI
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
||||
* Method: clearSPIReceivedData
|
||||
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_clearSPIReceivedData
|
||||
(JNIEnv *, jclass, jobject, jobject)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
Reference in New Issue
Block a user