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https://github.com/wpilibsuite/allwpilib
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WPILib Reorganization
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
This commit is contained in:
Fredric Silberberg
244
wpilibj/src/athena/cpp/lib/EncoderJNI.cpp
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244
wpilibj/src/athena/cpp/lib/EncoderJNI.cpp
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#include <jni.h>
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#include <assert.h>
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#include "Log.hpp"
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#include "edu_wpi_first_wpilibj_hal_EncoderJNI.h"
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#include "HAL/Digital.hpp"
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#include "HAL/Errors.hpp"
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#include "HALUtil.h"
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// set the logging level
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TLogLevel encoderJNILogLevel = logWARNING;
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#define ENCODERJNI_LOG(level) \
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if (level > encoderJNILogLevel) ; \
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else Log().Get(level)
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extern "C" {
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: initializeEncoder
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* Signature: (BIZBIZZLjava/nio/IntBuffer;)J
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*/
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JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder
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(JNIEnv * env, jclass, jbyte port_a_module, jint port_a_pin, jboolean port_a_analog_trigger, jbyte port_b_module, jint port_b_pin, jboolean port_b_analog_trigger, jboolean reverseDirection, jobject index)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI initializeEncoder";
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ENCODERJNI_LOG(logDEBUG) << "Module A = " << (jint)port_a_module;
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ENCODERJNI_LOG(logDEBUG) << "Pin A = " << port_a_pin;
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ENCODERJNI_LOG(logDEBUG) << "Analog Trigger A = " << (jint)port_a_analog_trigger;
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ENCODERJNI_LOG(logDEBUG) << "Module B = " << (jint)port_b_module;
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ENCODERJNI_LOG(logDEBUG) << "Pin B = " << port_b_pin;
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ENCODERJNI_LOG(logDEBUG) << "Analog Trigger B = " << (jint)port_b_analog_trigger;
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ENCODERJNI_LOG(logDEBUG) << "Reverse direction = " << (jint)reverseDirection;
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jint * indexPtr = (jint*)env->GetDirectBufferAddress(index);
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ENCODERJNI_LOG(logDEBUG) << "Index Ptr = " << indexPtr;
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int32_t status = 0;
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void* encoder = initializeEncoder(port_a_module, port_a_pin, port_a_analog_trigger,
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port_b_module, port_b_pin, port_b_analog_trigger,
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reverseDirection, indexPtr, &status);
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ENCODERJNI_LOG(logDEBUG) << "Index = " << *indexPtr;
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "ENCODER Ptr = " << encoder;
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CheckStatus(env, status);
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return (jlong)encoder;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: freeEncoder
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_freeEncoder
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(JNIEnv * env, jclass, jlong id)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI freeEncoder";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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freeEncoder((void*)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: resetEncoder
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_resetEncoder
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(JNIEnv * env, jclass, jlong id)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI resetEncoder";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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resetEncoder((void*)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: getEncoder
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* Signature: (J)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoder
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(JNIEnv * env, jclass, jlong id)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoder";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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jint returnValue = getEncoder((void*)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "getEncoderResult = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: getEncoderPeriod
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* Signature: (J)D
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*/
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JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderPeriod
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(JNIEnv * env, jclass, jlong id)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderPeriod";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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double returnValue = getEncoderPeriod((void*)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "getEncoderPeriodResult = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: setEncoderMaxPeriod
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* Signature: (JD)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMaxPeriod
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(JNIEnv * env, jclass, jlong id, jdouble value)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderMaxPeriod";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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setEncoderMaxPeriod((void*)id, value, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: getEncoderStopped
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* Signature: (J)Z
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderStopped
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(JNIEnv * env, jclass, jlong id)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderStopped";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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jboolean returnValue = getEncoderStopped((void*)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "getEncoderStoppedResult = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: getEncoderDirection
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* Signature: (J)Z
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDirection
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(JNIEnv * env, jclass, jlong id)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderDirection";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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jboolean returnValue = getEncoderDirection((void*)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "getEncoderDirectionResult = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: setEncoderReverseDirection
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* Signature: (JZ)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderReverseDirection
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(JNIEnv * env, jclass, jlong id, jboolean value)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderReverseDirection";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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setEncoderReverseDirection((void*)id, value, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: setEncoderSamplesToAverage
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* Signature: (JI)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderSamplesToAverage
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(JNIEnv * env, jclass, jlong id, jint value)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderSamplesToAverage";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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setEncoderSamplesToAverage((void*)id, value, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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if (status == PARAMETER_OUT_OF_RANGE) {
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ThrowBoundaryException(env, value, 1, 127);
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return;
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}
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: getEncoderSamplesToAverage
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* Signature: (J)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderSamplesToAverage
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(JNIEnv * env, jclass, jlong id)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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jint returnValue = getEncoderSamplesToAverage((void*)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: setEncoderIndexSource
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* Signature: (JIZZZ)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderIndexSource
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(JNIEnv * env, jclass, jlong id, jint pin, jboolean analogTrigger, jboolean activeHigh, jboolean edgeSensitive)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderIndexSource";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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ENCODERJNI_LOG(logDEBUG) << "Pin = " << pin;
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ENCODERJNI_LOG(logDEBUG) << "Analog Trigger = " << (analogTrigger?"true":"false");
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ENCODERJNI_LOG(logDEBUG) << "Active High = " << (activeHigh?"true":"false");
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ENCODERJNI_LOG(logDEBUG) << "Edge Sensitive = " << (edgeSensitive?"true":"false");
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int32_t status = 0;
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setEncoderIndexSource((void*)id, pin, analogTrigger, activeHigh, edgeSensitive, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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} // extern "C"
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