mirror of
https://github.com/wpilibsuite/allwpilib
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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
706
wpilibj/wpilibJavaJNI/lib/FRCNetworkCommunicationsLibrary.cpp
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706
wpilibj/wpilibJavaJNI/lib/FRCNetworkCommunicationsLibrary.cpp
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@@ -0,0 +1,706 @@
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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_communication_FRCNetworkCommunicationsLibrary.h"
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#include "HAL/HAL.h"
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//#include "NetworkCommunication/FRCComm.h"
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//#include "NetworkCommunication/UsageReporting.h"
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_nAICalibration_getLSBWeight
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* Signature: (IILjava/lang/Integer;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationAICalibrationGetLSBWeight
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(JNIEnv *, jclass, jint, jint, jobject)
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{
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assert(false);
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return 0;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_nAICalibration_getOffset
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* Signature: (IILjava/lang/Integer;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationAICalibrationGetOffset
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(JNIEnv *, jclass, jint, jint, jobject)
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{
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assert(false);
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return 0;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: getModulePresence
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* Signature: (IB)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getModulePresence
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(JNIEnv *, jclass, jint, jbyte)
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{
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assert(false);
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return 0;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: getTargetClass
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getTargetClass
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(JNIEnv *, jclass)
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{
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assert(false);
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return 0;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_nLoadOut_getModulePresence
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* Signature: (IB)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationLoadOutGetModulePresence
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(JNIEnv *, jclass, jint, jbyte)
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{
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assert(false);
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return 0;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_nLoadOut_getTargetClass
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationLoadOutGetTargetClass
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(JNIEnv *, jclass)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: report
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* Signature: (IBBLjava/lang/String;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_report
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(JNIEnv *, jclass, jint, jbyte, jbyte, jstring)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_nUsageReporting_report
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* Signature: (BBBLjava/lang/String;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationUsageReportingReport
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(JNIEnv * paramEnv, jclass, jbyte paramResource, jbyte paramInstanceNumber, jbyte paramContext, jstring paramFeature)
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{
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FILE_LOG(logDEBUG) << "Calling FRCNetworkCommunicationsLibrary report " << "res:"<< (unsigned int)paramResource << " instance:" << (unsigned int)paramInstanceNumber << " context:" << (unsigned int)paramContext << " feature:" << paramFeature;
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const char * featureStr = paramEnv->GetStringUTFChars(paramFeature, NULL);
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jint returnValue = HALReport(paramResource, paramInstanceNumber, paramContext, featureStr);
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paramEnv->ReleaseStringUTFChars(paramFeature,featureStr);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: getFPGAHardwareVersion
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* Signature: (Ljava/nio/ShortBuffer;Ljava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getFPGAHardwareVersion
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(JNIEnv *, jclass, jobject, jobject)
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{
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assert(false);
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}
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//
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// field ids
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//
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bool initializeComplete = false;
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jclass dataClass;
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jfieldID packetIndexFieldID;
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jfieldID controlFieldID;
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jfieldID dsDigitalInFieldID;
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jfieldID teamIDFieldID;
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jfieldID dsID_AllianceFieldID;
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jfieldID dsID_PositionFieldID;
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jfieldID stick0AxesFieldID;
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jfieldID stick0ButtonsFieldID;
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jfieldID stick1AxesFieldID;
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jfieldID stick1ButtonsFieldID;
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jfieldID stick2AxesFieldID;
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jfieldID stick2ButtonsFieldID;
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jfieldID stick3AxesFieldID;
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jfieldID stick3ButtonsFieldID;
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jfieldID analog1FieldID;
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jfieldID analog2FieldID;
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jfieldID analog3FieldID;
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jfieldID analog4FieldID;
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jfieldID cRIOChecksumFieldID;
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jfieldID FPGAChecksum0FieldID;
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jfieldID FPGAChecksum1FieldID;
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jfieldID FPGAChecksum2FieldID;
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jfieldID FPGAChecksum3FieldID;
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jfieldID versionDataFieldID;
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: getCommonControlData
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* Signature: (Ledu/wpi/first/wpilibj/communication/FRCCommonControlData;I)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getCommonControlData
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(JNIEnv * env, jclass, jobject controlData)
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{
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HALCommonControlData controlDataNative;
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controlDataNative.packetIndex = 0xFF;
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controlDataNative.control = 0xFF;
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int returnValue = HALGetCommonControlData(&controlDataNative, HAL_WAIT_FOREVER);
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//FILE_LOG(logDEBUG) << "PacketIndex: " << (void*)controlDataNative.packetIndex << " Control: " << (void*)controlDataNative.control << " ReturnValue: " << (void*)returnValue;
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if(!initializeComplete)
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{
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// control data class
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dataClass = (jclass)env->NewGlobalRef(env->GetObjectClass(controlData));
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//dataClass = env->GetObjectClass(controlData);
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// public short packetIndex;
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packetIndexFieldID = env->GetFieldID(dataClass, "packetIndex", "S" );
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// public byte control;
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controlFieldID = env->GetFieldID(dataClass, "control", "B" );
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// public byte dsDigitalIn;
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dsDigitalInFieldID = env->GetFieldID(dataClass, "dsDigitalIn", "B" );
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// public short teamID;
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teamIDFieldID = env->GetFieldID(dataClass, "teamID", "S" );
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// public byte dsID_Alliance;
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dsID_AllianceFieldID = env->GetFieldID(dataClass, "dsID_Alliance", "B" );
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// public byte dsID_Position;
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dsID_PositionFieldID = env->GetFieldID(dataClass, "dsID_Position", "B" );
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// public byte[] stick0Axes;
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stick0AxesFieldID = env->GetFieldID(dataClass, "stick0Axes", "[B" );
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// public short stick0Buttons;
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stick0ButtonsFieldID = env->GetFieldID(dataClass, "stick0Buttons", "S" );
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// public byte[] stick1Axes;
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stick1AxesFieldID = env->GetFieldID(dataClass, "stick1Axes", "[B" );
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// public short stick1Buttons;
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stick1ButtonsFieldID = env->GetFieldID(dataClass, "stick1Buttons", "S" );
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// public byte[] stick2Axes;
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stick2AxesFieldID = env->GetFieldID(dataClass, "stick2Axes", "[B" );
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// public short stick2Buttons;
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stick2ButtonsFieldID = env->GetFieldID(dataClass, "stick2Buttons", "S" );
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// public byte[] stick3Axes;
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stick3AxesFieldID = env->GetFieldID(dataClass, "stick3Axes", "[B" );
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// public short stick3Buttons;
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stick3ButtonsFieldID = env->GetFieldID(dataClass, "stick3Buttons", "S" );
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// public short analog1;
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analog1FieldID = env->GetFieldID(dataClass, "analog1", "S" );
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// public short analog2;
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analog2FieldID = env->GetFieldID(dataClass, "analog2", "S" );
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// public short analog3;
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analog3FieldID = env->GetFieldID(dataClass, "analog3", "S" );
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// public short analog4;
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analog4FieldID = env->GetFieldID(dataClass, "analog4", "S" );
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// public long cRIOChecksum;
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cRIOChecksumFieldID = env->GetFieldID(dataClass, "cRIOChecksum", "J" );
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// public int FPGAChecksum0;
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FPGAChecksum0FieldID = env->GetFieldID(dataClass, "FPGAChecksum0", "I" );
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// public int FPGAChecksum1;
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FPGAChecksum1FieldID = env->GetFieldID(dataClass, "FPGAChecksum1", "I" );
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// public int FPGAChecksum2;
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FPGAChecksum2FieldID = env->GetFieldID(dataClass, "FPGAChecksum2", "I" );
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// public int FPGAChecksum3;
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FPGAChecksum3FieldID = env->GetFieldID(dataClass, "FPGAChecksum3", "I" );
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// public byte[] versionData;
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versionDataFieldID = env->GetFieldID(dataClass, "versionData", "[B" );
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initializeComplete = true;
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}
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//FILE_LOG(logDEBUG) << "PacketIndex : " << (short)controlDataNative.packetIndex;
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env->SetShortField(controlData,packetIndexFieldID, controlDataNative.packetIndex);
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//FILE_LOG(logDEBUG) << "Control : " << (short)controlDataNative.control;
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env->SetByteField(controlData,controlFieldID, controlDataNative.control);
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env->SetByteField(controlData,dsDigitalInFieldID, controlDataNative.dsDigitalIn);
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env->SetShortField(controlData,teamIDFieldID, controlDataNative.teamID);
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env->SetByteField(controlData,dsID_AllianceFieldID, controlDataNative.dsID_Alliance);
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env->SetByteField(controlData,dsID_PositionFieldID, controlDataNative.dsID_Position);
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// process the axes for joystick 0
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jobject stick0Axes = env->GetObjectField(controlData, stick0AxesFieldID);
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jbyteArray * stick0AxesPtr = reinterpret_cast<jbyteArray*>(&stick0Axes);
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jbyte * stick0AxesBytePtr = env->GetByteArrayElements(*stick0AxesPtr,NULL);
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for( short axisCount = 0; axisCount < 6; axisCount++)
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{
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stick0AxesBytePtr[axisCount]=controlDataNative.stick0Axes[axisCount];
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}
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env->ReleaseByteArrayElements(*stick0AxesPtr,stick0AxesBytePtr,0);
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// /** C type : field2_union */
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// public field2_union field2;
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// /** Left-most 4 bits are unused */
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env->SetShortField(controlData,stick0ButtonsFieldID, controlDataNative.stick0Buttons);
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// process the axes for joystick 1
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jobject stick1Axes = env->GetObjectField(controlData, stick1AxesFieldID);
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jbyteArray * stick1AxesPtr = reinterpret_cast<jbyteArray*>(&stick1Axes);
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jbyte * stick1AxesBytePtr = env->GetByteArrayElements(*stick1AxesPtr,NULL);
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for( short axisCount = 0; axisCount < 6; axisCount++)
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{
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stick1AxesBytePtr[axisCount]=controlDataNative.stick1Axes[axisCount];
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}
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env->ReleaseByteArrayElements(*stick1AxesPtr,stick1AxesBytePtr,0);
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// /** C type : field3_union */
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// public field3_union field3;
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// /** Left-most 4 bits are unused */
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env->SetShortField(controlData,stick1ButtonsFieldID, controlDataNative.stick1Buttons);
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// process the axes for joystick 2
|
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jobject stick2Axes = env->GetObjectField(controlData, stick2AxesFieldID);
|
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jbyteArray * stick2AxesPtr = reinterpret_cast<jbyteArray*>(&stick2Axes);
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jbyte * stick2AxesBytePtr = env->GetByteArrayElements(*stick2AxesPtr,NULL);
|
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|
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for( short axisCount = 0; axisCount < 6; axisCount++)
|
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{
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stick2AxesBytePtr[axisCount]=controlDataNative.stick2Axes[axisCount];
|
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}
|
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|
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env->ReleaseByteArrayElements(*stick2AxesPtr,stick2AxesBytePtr,0);
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|
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// /** C type : field4_union */
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// public field4_union field4;
|
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// /** Left-most 4 bits are unused */
|
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env->SetShortField(controlData,stick2ButtonsFieldID, controlDataNative.stick2Buttons);
|
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|
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// process the axes for joystick 3
|
||||
jobject stick3Axes = env->GetObjectField(controlData, stick3AxesFieldID);
|
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jbyteArray * stick3AxesPtr = reinterpret_cast<jbyteArray*>(&stick3Axes);
|
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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);
|
||||
}
|
||||
Reference in New Issue
Block a user