New 2018 and later build setup (#1001)

hal/src/main/native/cpp/cpp/fpga_clock.cpp

@@ -0,0 +1,31 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/cpp/fpga_clock.h"
+
+#include <llvm/raw_ostream.h>
+
+#include "HAL/HAL.h"
+
+namespace hal {
+const fpga_clock::time_point fpga_clock::min_time =
+    fpga_clock::time_point(fpga_clock::duration(
+        std::numeric_limits<fpga_clock::duration::rep>::min()));
+
+fpga_clock::time_point fpga_clock::now() noexcept {
+  int32_t status = 0;
+  uint64_t currentTime = HAL_GetFPGATime(&status);
+  if (status != 0) {
+    llvm::errs()
+        << "Call to HAL_GetFPGATime failed."
+        << "Initialization might have failed. Time will not be correct\n";
+    llvm::errs().flush();
+    return epoch();
+  }
+  return time_point(std::chrono::microseconds(currentTime));
+}
+}  // namespace hal

hal/src/main/native/cpp/handles/HandlesInternal.cpp

@@ -0,0 +1,95 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/handles/HandlesInternal.h"
+
+#include <algorithm>
+
+#include <llvm/SmallVector.h>
+#include <support/mutex.h>
+
+namespace hal {
+static llvm::SmallVector<HandleBase*, 32>* globalHandles = nullptr;
+static wpi::mutex globalHandleMutex;
+HandleBase::HandleBase() {
+  static llvm::SmallVector<HandleBase*, 32> gH;
+  std::lock_guard<wpi::mutex> lock(globalHandleMutex);
+  if (!globalHandles) {
+    globalHandles = &gH;
+  }
+
+  auto index = std::find(globalHandles->begin(), globalHandles->end(), this);
+  if (index == globalHandles->end()) {
+    globalHandles->push_back(this);
+  } else {
+    *index = this;
+  }
+}
+HandleBase::~HandleBase() {
+  std::lock_guard<wpi::mutex> lock(globalHandleMutex);
+  auto index = std::find(globalHandles->begin(), globalHandles->end(), this);
+  if (index != globalHandles->end()) {
+    *index = nullptr;
+  }
+}
+void HandleBase::ResetHandles() {
+  m_version++;
+  if (m_version > 255) {
+    m_version = 0;
+  }
+}
+void HandleBase::ResetGlobalHandles() {
+  std::unique_lock<wpi::mutex> lock(globalHandleMutex);
+  for (auto&& i : *globalHandles) {
+    if (i != nullptr) {
+      lock.unlock();
+      i->ResetHandles();
+      lock.lock();
+    }
+  }
+}
+HAL_PortHandle createPortHandle(uint8_t channel, uint8_t module) {
+  // set last 8 bits, then shift to first 8 bits
+  HAL_PortHandle handle = static_cast<HAL_PortHandle>(HAL_HandleEnum::Port);
+  handle = handle << 24;
+  // shift module and add to 3rd set of 8 bits
+  int32_t temp = module;
+  temp = (temp << 8) & 0xff00;
+  handle += temp;
+  // add channel to last 8 bits
+  handle += channel;
+  return handle;
+}
+HAL_PortHandle createPortHandleForSPI(uint8_t channel) {
+  // set last 8 bits, then shift to first 8 bits
+  HAL_PortHandle handle = static_cast<HAL_PortHandle>(HAL_HandleEnum::Port);
+  handle = handle << 16;
+  // set second set up bits to 1
+  int32_t temp = 1;
+  temp = (temp << 8) & 0xff00;
+  handle += temp;
+  // shift to last set of bits
+  handle = handle << 8;
+  // add channel to last 8 bits
+  handle += channel;
+  return handle;
+}
+HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType,
+                        int16_t version) {
+  if (index < 0) return HAL_kInvalidHandle;
+  uint8_t hType = static_cast<uint8_t>(handleType);
+  if (hType == 0 || hType > 127) return HAL_kInvalidHandle;
+  // set last 8 bits, then shift to first 8 bits
+  HAL_Handle handle = hType;
+  handle = handle << 8;
+  handle += static_cast<uint8_t>(version);
+  handle = handle << 16;
+  // add index to set last 16 bits
+  handle += index;
+  return handle;
+}
+}  // namespace hal

hal/src/main/native/cpp/jni/AccelerometerJNI.cpp

@@ -0,0 +1,69 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/Accelerometer.h"
+#include <jni.h>
+#include "edu_wpi_first_wpilibj_hal_AccelerometerJNI.h"
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AccelerometerJNI
+ * Method:    setAccelerometerActive
+ * Signature: (Z)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_setAccelerometerActive(
+    JNIEnv *, jclass, jboolean active) {
+  HAL_SetAccelerometerActive(active);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AccelerometerJNI
+ * Method:    setAccelerometerRange
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_setAccelerometerRange(
+    JNIEnv *, jclass, jint range) {
+  HAL_SetAccelerometerRange((HAL_AccelerometerRange)range);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AccelerometerJNI
+ * Method:    getAccelerometerX
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerX(
+    JNIEnv *, jclass) {
+  return HAL_GetAccelerometerX();
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AccelerometerJNI
+ * Method:    getAccelerometerY
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerY(
+    JNIEnv *, jclass) {
+  return HAL_GetAccelerometerY();
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AccelerometerJNI
+ * Method:    getAccelerometerZ
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_AccelerometerJNI_getAccelerometerZ(
+    JNIEnv *, jclass) {
+  return HAL_GetAccelerometerZ();
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/AnalogGyroJNI.cpp

@@ -0,0 +1,219 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+#include "HAL/cpp/Log.h"
+
+#include "edu_wpi_first_wpilibj_hal_AnalogGyroJNI.h"
+
+#include "HAL/AnalogGyro.h"
+#include "HALUtil.h"
+#include "HAL/handles/HandlesInternal.h"
+
+using namespace frc;
+
+// set the logging level
+TLogLevel analogGyroJNILogLevel = logWARNING;
+
+#define ANALOGGYROJNI_LOG(level)     \
+  if (level > analogGyroJNILogLevel) \
+    ;                           \
+  else                          \
+  Log().Get(level)
+
+extern "C" {
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogGyroJNI
+ * Method:    initializeAnalogGyro
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_initializeAnalogGyro(
+    JNIEnv* env, jclass, jint id) {
+  ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI initializeAnalogGyro";
+  ANALOGGYROJNI_LOG(logDEBUG) << "Analog Input Handle = " << (HAL_AnalogInputHandle)id;
+  int32_t status = 0;
+  HAL_GyroHandle handle = HAL_InitializeAnalogGyro((HAL_AnalogInputHandle)id, &status);
+  ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << handle;
+  // Analog input does range checking, so we don't need to do so.
+  CheckStatusForceThrow(env, status);
+  return (jint) handle;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogGyroJNI
+ * Method:    setupAnalogGyro
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setupAnalogGyro(
+    JNIEnv* env, jclass, jint id) {
+  ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setupAnalogGyro";
+  ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
+  int32_t status = 0;
+  HAL_SetupAnalogGyro((HAL_GyroHandle)id, &status);
+  ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogGyroJNI
+ * Method:    freeAnalogGyro
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_freeAnalogGyro(
+    JNIEnv* env, jclass, jint id) {
+  ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI freeAnalogGyro";
+  ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
+  HAL_FreeAnalogGyro((HAL_GyroHandle)id);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogGyroJNI
+ * Method:    setAnalogGyroParameters
+ * Signature: (IDDI)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyroParameters(
+    JNIEnv* env, jclass, jint id, jdouble vPDPS, jdouble offset, jint center) {
+  ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setAnalogGyroParameters";
+  ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
+  int32_t status = 0;
+  HAL_SetAnalogGyroParameters((HAL_GyroHandle)id, vPDPS, offset, center, &status);
+  ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogGyroJNI
+ * Method:    setAnalogGyroVoltsPerDegreePerSecond
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyroVoltsPerDegreePerSecond(
+    JNIEnv* env, jclass, jint id, jdouble vPDPS) {
+  ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setAnalogGyroVoltsPerDegreePerSecond";
+  ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
+  ANALOGGYROJNI_LOG(logDEBUG) << "vPDPS = " << vPDPS;
+  int32_t status = 0;
+  HAL_SetAnalogGyroVoltsPerDegreePerSecond((HAL_GyroHandle)id, vPDPS, &status);
+  ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogGyroJNI
+ * Method:    resetAnalogGyro
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_resetAnalogGyro(
+    JNIEnv* env, jclass, jint id) {
+  ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI resetAnalogGyro";
+  ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
+  int32_t status = 0;
+  HAL_ResetAnalogGyro((HAL_GyroHandle)id, &status);
+  ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogGyroJNI
+ * Method:    calibrateAnalogGyro
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_calibrateAnalogGyro(
+    JNIEnv* env, jclass, jint id) {
+  ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI calibrateAnalogGyro";
+  ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
+  int32_t status = 0;
+  HAL_CalibrateAnalogGyro((HAL_GyroHandle)id, &status);
+  ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogGyroJNI
+ * Method:    setAnalogGyroDeadband
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyroDeadband(
+    JNIEnv* env, jclass, jint id, jdouble deadband) {
+  ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setAnalogGyroDeadband";
+  ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
+  int32_t status = 0;
+  HAL_SetAnalogGyroDeadband((HAL_GyroHandle)id, deadband, &status);
+  ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogGyroJNI
+ * Method:    getAnalogGyroAngle
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroAngle(
+    JNIEnv* env, jclass, jint id) {
+  ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroAngle";
+  ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
+  int32_t status = 0;
+  jdouble value = HAL_GetAnalogGyroAngle((HAL_GyroHandle)id, &status);
+  ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGGYROJNI_LOG(logDEBUG) << "Result = " << value;
+  CheckStatus(env, status);
+  return value;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogGyroJNI
+ * Method:    getAnalogGyroRate
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroRate(
+    JNIEnv* env, jclass, jint id) {
+  ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroRate";
+  ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
+  int32_t status = 0;
+  jdouble value = HAL_GetAnalogGyroRate((HAL_GyroHandle)id, &status);
+  ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGGYROJNI_LOG(logDEBUG) << "Result = " << value;
+  CheckStatus(env, status);
+  return value;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogGyroJNI
+ * Method:    getAnalogGyroOffset
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroOffset(
+    JNIEnv* env, jclass, jint id) {
+  ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroOffset";
+  ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
+  int32_t status = 0;
+  jdouble value = HAL_GetAnalogGyroOffset((HAL_GyroHandle)id, &status);
+  ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGGYROJNI_LOG(logDEBUG) << "Result = " << value;
+  CheckStatus(env, status);
+  return value;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogGyroJNI
+ * Method:    getAnalogGyroCenter
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroCenter(
+    JNIEnv* env, jclass, jint id) {
+  ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroCenter";
+  ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
+  int32_t status = 0;
+  jint value = HAL_GetAnalogGyroCenter((HAL_GyroHandle)id, &status);
+  ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGGYROJNI_LOG(logDEBUG) << "Result = " << value;
+  CheckStatus(env, status);
+  return value;
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/AnalogJNI.cpp

@@ -0,0 +1,656 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+#include "HAL/cpp/Log.h"
+
+#include "edu_wpi_first_wpilibj_hal_AnalogJNI.h"
+
+#include "HAL/AnalogInput.h"
+#include "HAL/AnalogOutput.h"
+#include "HAL/AnalogAccumulator.h"
+#include "HAL/AnalogTrigger.h"
+#include "HAL/Ports.h"
+#include "HALUtil.h"
+#include "HAL/handles/HandlesInternal.h"
+
+using namespace frc;
+
+// set the logging level
+TLogLevel analogJNILogLevel = logWARNING;
+
+#define ANALOGJNI_LOG(level)     \
+  if (level > analogJNILogLevel) \
+    ;                            \
+  else                           \
+  Log().Get(level)
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    initializeAnalogInputPort
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogInputPort(
+    JNIEnv *env, jclass, jint id) {
+  ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
+  int32_t status = 0;
+  auto analog = HAL_InitializeAnalogInputPort((HAL_PortHandle)id, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << analog;
+  CheckStatusRange(env, status, 0, HAL_GetNumAnalogInputs(), 
+                   hal::getPortHandleChannel((HAL_PortHandle)id));
+  return (jint)analog;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    freeAnalogInputPort
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_freeAnalogInputPort(
+    JNIEnv *env, jclass, jint id) {
+  ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_AnalogInputHandle)id;
+  HAL_FreeAnalogInputPort((HAL_AnalogInputHandle)id);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    initializeAnalogOutputPort
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogOutputPort(
+    JNIEnv *env, jclass, jint id) {
+  ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
+  int32_t status = 0;
+  HAL_AnalogOutputHandle analog = HAL_InitializeAnalogOutputPort((HAL_PortHandle)id, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << analog;
+  CheckStatusRange(env, status, 0, HAL_GetNumAnalogOutputs(), 
+                   hal::getPortHandleChannel((HAL_PortHandle)id));
+  return (jlong)analog;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    freeAnalogOutputPort
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_freeAnalogOutputPort(
+    JNIEnv *env, jclass, jint id) {
+  ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << id;
+  HAL_FreeAnalogOutputPort((HAL_AnalogOutputHandle)id);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    checkAnalogModule
+ * Signature: (B)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogModule(
+    JNIEnv *, jclass, jbyte value) {
+  // ANALOGJNI_LOG(logDEBUG) << "Module = " << (jint)value;
+  jboolean returnValue = HAL_CheckAnalogModule(value);
+  // ANALOGJNI_LOG(logDEBUG) << "checkAnalogModuleResult = " <<
+  // (jint)returnValue;
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    checkAnalogInputChannel
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogInputChannel(
+    JNIEnv *, jclass, jint value) {
+  // ANALOGJNI_LOG(logDEBUG) << "Channel = " << value;
+  jboolean returnValue = HAL_CheckAnalogInputChannel(value);
+  // ANALOGJNI_LOG(logDEBUG) << "checkAnalogChannelResult = " <<
+  // (jint)returnValue;
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    checkAnalogOutputChannel
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogOutputChannel(
+    JNIEnv *, jclass, jint value) {
+  // ANALOGJNI_LOG(logDEBUG) << "Channel = " << value;
+  jboolean returnValue = HAL_CheckAnalogOutputChannel(value);
+  // ANALOGJNI_LOG(logDEBUG) << "checkAnalogChannelResult = " <<
+  // (jint)returnValue;
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    setAnalogOutput
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogOutput(
+    JNIEnv *env, jclass, jint id, jdouble voltage) {
+  ANALOGJNI_LOG(logDEBUG) << "Calling setAnalogOutput";
+  ANALOGJNI_LOG(logDEBUG) << "Voltage = " << voltage;
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << id;
+  int32_t status = 0;
+  HAL_SetAnalogOutput((HAL_AnalogOutputHandle)id, voltage, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    getAnalogOutput
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOutput(
+    JNIEnv *env, jclass, jint id) {
+  int32_t status = 0;
+  double val = HAL_GetAnalogOutput((HAL_AnalogOutputHandle)id, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    setAnalogSampleRate
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogSampleRate(
+    JNIEnv *env, jclass, jdouble value) {
+  ANALOGJNI_LOG(logDEBUG) << "SampleRate = " << value;
+  int32_t status = 0;
+  HAL_SetAnalogSampleRate(value, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    getAnalogSampleRate
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogSampleRate(
+    JNIEnv *env, jclass) {
+  int32_t status = 0;
+  double returnValue = HAL_GetAnalogSampleRate(&status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGJNI_LOG(logDEBUG) << "SampleRate = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    setAnalogAverageBits
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogAverageBits(
+    JNIEnv *env, jclass, jint id, jint value) {
+  ANALOGJNI_LOG(logDEBUG) << "AverageBits = " << value;
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
+  int32_t status = 0;
+  HAL_SetAnalogAverageBits((HAL_AnalogInputHandle)id, value, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    getAnalogAverageBits
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageBits(
+    JNIEnv *env, jclass, jint id) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
+  int32_t status = 0;
+  jint returnValue = HAL_GetAnalogAverageBits((HAL_AnalogInputHandle)id, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGJNI_LOG(logDEBUG) << "AverageBits = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    setAnalogOversampleBits
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogOversampleBits(
+    JNIEnv *env, jclass, jint id, jint value) {
+  ANALOGJNI_LOG(logDEBUG) << "OversampleBits = " << value;
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
+  int32_t status = 0;
+  HAL_SetAnalogOversampleBits((HAL_AnalogInputHandle)id, value, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    getAnalogOversampleBits
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOversampleBits(
+    JNIEnv *env, jclass, jint id) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
+  int32_t status = 0;
+  jint returnValue = HAL_GetAnalogOversampleBits((HAL_AnalogInputHandle)id, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGJNI_LOG(logDEBUG) << "OversampleBits = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    getAnalogValue
+ * Signature: (I)S
+ */
+JNIEXPORT jshort JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogValue(
+    JNIEnv *env, jclass, jint id) {
+  // ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (void*)id;
+  int32_t status = 0;
+  jshort returnValue = HAL_GetAnalogValue((HAL_AnalogInputHandle)id, &status);
+  // ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  // ANALOGJNI_LOG(logDEBUG) << "Value = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    getAnalogAverageValue
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageValue(
+    JNIEnv *env, jclass, jint id) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
+  int32_t status = 0;
+  jint returnValue = HAL_GetAnalogAverageValue((HAL_AnalogInputHandle)id, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGJNI_LOG(logDEBUG) << "AverageValue = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    getAnalogVoltsToValue
+ * Signature: (ID)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogVoltsToValue(
+    JNIEnv *env, jclass, jint id, jdouble voltageValue) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
+  ANALOGJNI_LOG(logDEBUG) << "VoltageValue = " << voltageValue;
+  int32_t status = 0;
+  jint returnValue = HAL_GetAnalogVoltsToValue((HAL_AnalogInputHandle)id, voltageValue, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGJNI_LOG(logDEBUG) << "Value = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    getAnalogVoltage
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogVoltage(
+    JNIEnv *env, jclass, jint id) {
+  // ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (void*)id;
+  int32_t status = 0;
+  jdouble returnValue = HAL_GetAnalogVoltage((HAL_AnalogInputHandle)id, &status);
+  // ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  // ANALOGJNI_LOG(logDEBUG) << "Voltage = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    getAnalogAverageVoltage
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageVoltage(
+    JNIEnv *env, jclass, jint id) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
+  int32_t status = 0;
+  jdouble returnValue = HAL_GetAnalogAverageVoltage((HAL_AnalogInputHandle)id, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGJNI_LOG(logDEBUG) << "AverageVoltage = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    getAnalogLSBWeight
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogLSBWeight(
+    JNIEnv *env, jclass, jint id) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
+  int32_t status = 0;
+
+  jint returnValue = HAL_GetAnalogLSBWeight((HAL_AnalogInputHandle)id, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGJNI_LOG(logDEBUG) << "AnalogLSBWeight = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    getAnalogOffset
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOffset(
+    JNIEnv *env, jclass, jint id) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
+  int32_t status = 0;
+
+  jint returnValue = HAL_GetAnalogOffset((HAL_AnalogInputHandle)id, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGJNI_LOG(logDEBUG) << "AnalogOffset = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    isAccumulatorChannel
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_isAccumulatorChannel(
+    JNIEnv *env, jclass, jint id) {
+  ANALOGJNI_LOG(logDEBUG) << "isAccumulatorChannel";
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
+  int32_t status = 0;
+
+  jboolean returnValue = HAL_IsAccumulatorChannel((HAL_AnalogInputHandle)id, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGJNI_LOG(logDEBUG) << "AnalogOffset = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    initAccumulator
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initAccumulator(
+    JNIEnv *env, jclass, jint id) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
+  int32_t status = 0;
+  HAL_InitAccumulator((HAL_AnalogInputHandle)id, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    resetAccumulator
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_resetAccumulator(
+    JNIEnv *env, jclass, jint id) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
+  int32_t status = 0;
+  HAL_ResetAccumulator((HAL_AnalogInputHandle)id, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    setAccumulatorCenter
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorCenter(
+    JNIEnv *env, jclass, jint id, jint center) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
+  int32_t status = 0;
+  HAL_SetAccumulatorCenter((HAL_AnalogInputHandle)id, center, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    setAccumulatorDeadband
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorDeadband(
+    JNIEnv *env, jclass, jint id, jint deadband) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
+  int32_t status = 0;
+  HAL_SetAccumulatorDeadband((HAL_AnalogInputHandle)id, deadband, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    getAccumulatorValue
+ * Signature: (I)J
+ */
+JNIEXPORT jlong JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorValue(
+    JNIEnv *env, jclass, jint id) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
+  int32_t status = 0;
+  jlong returnValue = HAL_GetAccumulatorValue((HAL_AnalogInputHandle)id, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGJNI_LOG(logDEBUG) << "AccumulatorValue = " << returnValue;
+  CheckStatus(env, status);
+
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    getAccumulatorCount
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorCount(
+    JNIEnv *env, jclass, jint id) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
+  int32_t status = 0;
+  jint returnValue = HAL_GetAccumulatorCount((HAL_AnalogInputHandle)id, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGJNI_LOG(logDEBUG) << "AccumulatorCount = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    getAccumulatorOutput
+ * Signature: (ILedu/wpi/first/wpilibj/AccumulatorResult;)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorOutput(
+    JNIEnv *env, jclass, jint id, jobject accumulatorResult) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
+  int32_t status = 0;
+  int64_t value = 0;
+  int64_t count = 0;
+  HAL_GetAccumulatorOutput((HAL_AnalogInputHandle)id, &value, &count, &status);
+  SetAccumulatorResultObject(env, accumulatorResult, value, count);
+  ANALOGJNI_LOG(logDEBUG) << "Value = " << value;
+  ANALOGJNI_LOG(logDEBUG) << "Count = " << count;
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    initializeAnalogTrigger
+ * Signature: (ILjava/nio/IntBuffer;)J
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogTrigger(
+    JNIEnv *env, jclass, jint id, jobject index) {
+  ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_AnalogInputHandle)id;
+  jint *indexHandle = (jint *)env->GetDirectBufferAddress(index);
+  ANALOGJNI_LOG(logDEBUG) << "Index Ptr = " << indexHandle;
+  int32_t status = 0;
+  HAL_AnalogTriggerHandle analogTrigger =
+      HAL_InitializeAnalogTrigger((HAL_AnalogInputHandle)id, (int32_t *)indexHandle, &status);
+  ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
+  ANALOGJNI_LOG(logDEBUG) << "AnalogTrigger Handle = " << analogTrigger;
+  CheckStatus(env, status);
+  return (jint)analogTrigger;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    cleanAnalogTrigger
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_cleanAnalogTrigger(
+    JNIEnv *env, jclass,jint id) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id;
+  int32_t status = 0;
+  HAL_CleanAnalogTrigger((HAL_AnalogTriggerHandle)id, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    setAnalogTriggerLimitsRaw
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerLimitsRaw(
+    JNIEnv *env, jclass,jint id, jint lower, jint upper) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id;
+  int32_t status = 0;
+  HAL_SetAnalogTriggerLimitsRaw((HAL_AnalogTriggerHandle)id, lower, upper, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    setAnalogTriggerLimitsVoltage
+ * Signature: (IDD)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerLimitsVoltage(
+    JNIEnv *env, jclass,jint id, jdouble lower, jdouble upper) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id;
+  int32_t status = 0;
+  HAL_SetAnalogTriggerLimitsVoltage((HAL_AnalogTriggerHandle)id, lower, upper, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    setAnalogTriggerAveraged
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerAveraged(
+    JNIEnv *env, jclass,jint id, jboolean averaged) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id;
+  int32_t status = 0;
+  HAL_SetAnalogTriggerAveraged((HAL_AnalogTriggerHandle)id, averaged, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    setAnalogTriggerFiltered
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerFiltered(
+    JNIEnv *env, jclass,jint id, jboolean filtered) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id;
+  int32_t status = 0;
+  HAL_SetAnalogTriggerFiltered((HAL_AnalogTriggerHandle)id, filtered, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    getAnalogTriggerInWindow
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerInWindow(
+    JNIEnv *env, jclass,jint id) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id;
+  int32_t status = 0;
+  jboolean val = HAL_GetAnalogTriggerInWindow((HAL_AnalogTriggerHandle)id, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    getAnalogTriggerTriggerState
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerTriggerState(
+    JNIEnv *env, jclass,jint id) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id;
+  int32_t status = 0;
+  jboolean val = HAL_GetAnalogTriggerTriggerState((HAL_AnalogTriggerHandle)id, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_AnalogJNI
+ * Method:    getAnalogTriggerOutput
+ * Signature: (II)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerOutput(
+    JNIEnv *env, jclass,jint id, jint type) {
+  ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = " << (HAL_AnalogTriggerHandle)id;
+  int32_t status = 0;
+  jboolean val =
+      HAL_GetAnalogTriggerOutput((HAL_AnalogTriggerHandle)id, (HAL_AnalogTriggerType)type, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/CANJNI.cpp

@@ -0,0 +1,153 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+
+#include "HAL/cpp/Log.h"
+#include "HAL/CAN.h"
+#include "HALUtil.h"
+#include "edu_wpi_first_wpilibj_can_CANJNI.h"
+#include "llvm/SmallString.h"
+#include "llvm/raw_ostream.h"
+#include "support/jni_util.h"
+
+using namespace frc;
+using namespace wpi::java;
+
+// set the logging level
+// TLogLevel canJNILogLevel = logDEBUG;
+TLogLevel canJNILogLevel = logERROR;
+
+#define CANJNI_LOG(level)     \
+  if (level > canJNILogLevel) \
+    ;                         \
+  else                        \
+  Log().Get(level)
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_can_CANJNI
+ * Method:    FRCNetCommCANSessionMuxSendMessage
+ * Signature: (I[BI)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxSendMessage(
+    JNIEnv *env, jclass, jint messageID, jbyteArray data, jint periodMs) {
+
+  CANJNI_LOG(logDEBUG)
+      << "Calling CANJNI FRCNetCommCANSessionMuxSendMessage";
+
+  JByteArrayRef dataArray{env, data};
+
+  const uint8_t *dataBuffer = reinterpret_cast<const uint8_t*>(dataArray.array().data());
+  uint8_t dataSize = dataArray.array().size();
+
+  CANJNI_LOG(logDEBUG) << "Message ID ";
+  CANJNI_LOG(logDEBUG).write_hex(messageID);
+
+  if (logDEBUG <= canJNILogLevel) {
+    if (dataBuffer) {
+      llvm::SmallString<128> buf;
+      llvm::raw_svector_ostream str(buf);
+      for (int32_t i = 0; i < dataSize; i++) {
+        str.write_hex(dataBuffer[i]) << ' ';
+      }
+
+      Log().Get(logDEBUG) << "Data: " << str.str();
+    } else {
+      CANJNI_LOG(logDEBUG) << "Data: null";
+    }
+  }
+
+  CANJNI_LOG(logDEBUG) << "Period: " << periodMs;
+
+  int32_t status = 0;
+  HAL_CAN_SendMessage(
+      messageID, dataBuffer, dataSize, periodMs, &status);
+
+  CANJNI_LOG(logDEBUG) << "Status: " << status;
+  CheckCANStatus(env, status, messageID);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_can_CANJNI
+ * Method:    FRCNetCommCANSessionMuxReceiveMessage
+ * Signature: (Ljava/nio/IntBuffer;ILjava/nio/ByteBuffer;)[B
+ */
+JNIEXPORT jbyteArray JNICALL
+Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage(
+    JNIEnv *env, jclass, jobject messageID, jint messageIDMask,
+    jobject timeStamp) {
+
+  CANJNI_LOG(logDEBUG)
+      << "Calling CANJNI FRCNetCommCANSessionMuxReceiveMessage";
+
+  uint32_t *messageIDPtr = (uint32_t *)env->GetDirectBufferAddress(messageID);
+  uint32_t *timeStampPtr = (uint32_t *)env->GetDirectBufferAddress(timeStamp);
+
+  uint8_t dataSize = 0;
+  uint8_t buffer[8];
+
+  int32_t status = 0;
+  HAL_CAN_ReceiveMessage(
+      messageIDPtr, messageIDMask, buffer, &dataSize, timeStampPtr, &status);
+
+  CANJNI_LOG(logDEBUG) << "Message ID ";
+  CANJNI_LOG(logDEBUG).write_hex(*messageIDPtr);
+
+  if (logDEBUG <= canJNILogLevel) {
+    llvm::SmallString<128> buf;
+    llvm::raw_svector_ostream str(buf);
+
+    for (int32_t i = 0; i < dataSize; i++) {
+      // Pad one-digit data with a zero
+      if (buffer[i] <= 16) {
+        str << '0';
+      }
+
+      str.write_hex(buffer[i]) << ' ';
+    }
+
+    Log().Get(logDEBUG) << "Data: " << str.str();
+  }
+
+  CANJNI_LOG(logDEBUG) << "Timestamp: " << *timeStampPtr;
+  CANJNI_LOG(logDEBUG) << "Status: " << status;
+
+  if (!CheckCANStatus(env, status, *messageIDPtr)) return nullptr;
+  return MakeJByteArray(env, llvm::StringRef{reinterpret_cast<const char*>(buffer), 
+                        static_cast<size_t>(dataSize)});
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_can_CANJNI
+ * Method:    GetCANStatus
+ * Signature: (Ledu/wpi/first/wpilibj/can/CANStatus;)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_GetCANStatus
+(JNIEnv *env, jclass, jobject canStatus) {
+  CANJNI_LOG(logDEBUG)
+  << "Calling CANJNI HAL_CAN_GetCANStatus";
+
+  float percentBusUtilization = 0;
+  uint32_t busOffCount = 0;
+  uint32_t txFullCount = 0;
+  uint32_t receiveErrorCount = 0;
+  uint32_t transmitErrorCount = 0;
+  int32_t status = 0;
+  HAL_CAN_GetCANStatus(&percentBusUtilization, &busOffCount, &txFullCount,
+                       &receiveErrorCount, &transmitErrorCount, &status);
+  
+  if (!CheckStatus(env, status)) return;
+
+  SetCanStatusObject(env, canStatus, percentBusUtilization, busOffCount,
+                     txFullCount, receiveErrorCount, transmitErrorCount);
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/CompressorJNI.cpp

@@ -0,0 +1,211 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/Compressor.h"
+#include "HAL/Ports.h"
+#include "HAL/Solenoid.h"
+#include "HALUtil.h"
+#include "HAL/cpp/Log.h"
+#include "edu_wpi_first_wpilibj_hal_CompressorJNI.h"
+
+using namespace frc;
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CompressorJNI
+ * Method:    initializeCompressor
+ * Signature: (B)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_CompressorJNI_initializeCompressor(
+    JNIEnv *env, jclass, jbyte module) {
+  int32_t status = 0;
+  auto handle = HAL_InitializeCompressor(module, &status);
+  CheckStatusRange(env, status, 0, HAL_GetNumPCMModules(), module);
+  
+  return (jint)handle;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CompressorJNI
+ * Method:    checkCompressorModule
+ * Signature: (B)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_CompressorJNI_checkCompressorModule(
+    JNIEnv *env, jclass, jbyte module) {
+  return HAL_CheckCompressorModule(module);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CompressorJNI
+ * Method:    getCompressor
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressor(
+    JNIEnv *env, jclass, jint compressorHandle) {
+  int32_t status = 0;
+  bool val = HAL_GetCompressor((HAL_CompressorHandle)compressorHandle, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CompressorJNI
+ * Method:    setCompressorClosedLoopControl
+ * Signature: (JZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CompressorJNI_setCompressorClosedLoopControl(
+    JNIEnv *env, jclass, jint compressorHandle, jboolean value) {
+  int32_t status = 0;
+  HAL_SetCompressorClosedLoopControl((HAL_CompressorHandle)compressorHandle, value, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CompressorJNI
+ * Method:    getCompressorClosedLoopControl
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorClosedLoopControl(
+    JNIEnv *env, jclass, jint compressorHandle) {
+  int32_t status = 0;
+  bool val = HAL_GetCompressorClosedLoopControl((HAL_CompressorHandle)compressorHandle, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CompressorJNI
+ * Method:    getCompressorPressureSwitch
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorPressureSwitch(
+    JNIEnv *env, jclass, jint compressorHandle) {
+  int32_t status = 0;
+  bool val = HAL_GetCompressorPressureSwitch((HAL_CompressorHandle)compressorHandle, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CompressorJNI
+ * Method:    getCompressorCurrent
+ * Signature: (J)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrent(
+    JNIEnv *env, jclass, jint compressorHandle) {
+  int32_t status = 0;
+  double val = HAL_GetCompressorCurrent((HAL_CompressorHandle)compressorHandle, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CompressorJNI
+ * Method:    getCompressorCurrentTooHighFault
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrentTooHighFault(
+    JNIEnv *env, jclass, jint compressorHandle) {
+  int32_t status = 0;
+  bool val = HAL_GetCompressorCurrentTooHighFault((HAL_CompressorHandle)compressorHandle, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CompressorJNI
+ * Method:    getCompressorCurrentTooHighStickyFault
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrentTooHighStickyFault(
+    JNIEnv *env, jclass, jint compressorHandle) {
+  int32_t status = 0;
+  bool val =
+      HAL_GetCompressorCurrentTooHighStickyFault((HAL_CompressorHandle)compressorHandle, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CompressorJNI
+ * Method:    getCompressorShortedStickyFault
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorShortedStickyFault(
+    JNIEnv *env, jclass, jint compressorHandle) {
+  int32_t status = 0;
+  bool val = HAL_GetCompressorShortedStickyFault((HAL_CompressorHandle)compressorHandle, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CompressorJNI
+ * Method:    getCompressorShortedFault
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorShortedFault(
+    JNIEnv *env, jclass, jint compressorHandle) {
+  int32_t status = 0;
+  bool val = HAL_GetCompressorShortedFault((HAL_CompressorHandle)compressorHandle, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CompressorJNI
+ * Method:    getCompressorNotConnectedStickyFault
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorNotConnectedStickyFault(
+    JNIEnv *env, jclass, jint compressorHandle) {
+  int32_t status = 0;
+  bool val = HAL_GetCompressorNotConnectedStickyFault((HAL_CompressorHandle)compressorHandle, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CompressorJNI
+ * Method:    getCompressorNotConnectedFault
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorNotConnectedFault(
+    JNIEnv *env, jclass, jint compressorHandle) {
+  int32_t status = 0;
+  bool val = HAL_GetCompressorNotConnectedFault((HAL_CompressorHandle)compressorHandle, &status);
+  CheckStatus(env, status);
+  return val;
+}
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CompressorJNI
+ * Method:    clearAllPCMStickyFaults
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CompressorJNI_clearAllPCMStickyFaults(
+    JNIEnv *env, jclass, jbyte module) {
+  int32_t status = 0;
+  HAL_ClearAllPCMStickyFaults((uint8_t)module, &status);
+  CheckStatus(env, status);
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/ConstantsJNI.cpp

@@ -0,0 +1,42 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+#include "HAL/cpp/Log.h"
+
+#include "edu_wpi_first_wpilibj_hal_ConstantsJNI.h"
+
+#include "HAL/Constants.h"
+#include "HALUtil.h"
+
+using namespace frc;
+
+// set the logging level
+TLogLevel constantsJNILogLevel = logWARNING;
+
+#define CONSTANTSJNI_LOG(level)     \
+  if (level > constantsJNILogLevel) \
+    ;                         \
+  else                        \
+  Log().Get(level)
+
+extern "C" {
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_ConstantsJNI
+ * Method:    getSystemClockTicksPerMicrosecond
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_ConstantsJNI_getSystemClockTicksPerMicrosecond(
+    JNIEnv *env, jclass) {
+  CONSTANTSJNI_LOG(logDEBUG) << "Calling ConstantsJNI getSystemClockTicksPerMicrosecond";
+  jint value = HAL_GetSystemClockTicksPerMicrosecond();
+  CONSTANTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+}

hal/src/main/native/cpp/jni/CounterJNI.cpp

@@ -0,0 +1,443 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+#include "HAL/cpp/Log.h"
+
+#include "edu_wpi_first_wpilibj_hal_CounterJNI.h"
+
+#include "HAL/Counter.h"
+#include "HAL/Errors.h"
+#include "HALUtil.h"
+
+using namespace frc;
+
+// set the logging level
+TLogLevel counterJNILogLevel = logWARNING;
+
+#define COUNTERJNI_LOG(level)     \
+  if (level > counterJNILogLevel) \
+    ;                             \
+  else                            \
+  Log().Get(level)
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    initializeCounter
+ * Signature: (ILjava/nio/IntBuffer;)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_initializeCounter(
+    JNIEnv* env, jclass, jint mode, jobject index) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI initializeCounter";
+  COUNTERJNI_LOG(logDEBUG) << "Mode = " << mode;
+  jint* indexPtr = (jint*)env->GetDirectBufferAddress(index);
+  COUNTERJNI_LOG(logDEBUG) << "Index Ptr = " << (int32_t*)indexPtr;
+  int32_t status = 0;
+  auto counter = HAL_InitializeCounter((HAL_Counter_Mode)mode, (int32_t*)indexPtr, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Index = " << *indexPtr;
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  COUNTERJNI_LOG(logDEBUG) << "COUNTER Handle = " << counter;
+  CheckStatusForceThrow(env, status);
+  return (jint)counter;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    freeCounter
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_freeCounter(
+    JNIEnv* env, jclass, jint id) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI freeCounter";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  int32_t status = 0;
+  HAL_FreeCounter((HAL_CounterHandle)id, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    setCounterAverageSize
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterAverageSize(
+    JNIEnv* env, jclass, jint id, jint value) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterAverageSize";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  COUNTERJNI_LOG(logDEBUG) << "AverageSize = " << value;
+  int32_t status = 0;
+  HAL_SetCounterAverageSize((HAL_CounterHandle)id, value, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    setCounterUpSource
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpSource(
+    JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
+    jint analogTriggerType) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpSource";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  COUNTERJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle;
+  COUNTERJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType;
+  int32_t status = 0;
+  HAL_SetCounterUpSource((HAL_CounterHandle)id, (HAL_Handle)digitalSourceHandle, 
+                     (HAL_AnalogTriggerType)analogTriggerType, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    setCounterUpSourceEdge
+ * Signature: (IZZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpSourceEdge(
+    JNIEnv* env, jclass, jint id, jboolean valueRise, jboolean valueFall) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpSourceEdge";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  COUNTERJNI_LOG(logDEBUG) << "Rise = " << (jint)valueRise;
+  COUNTERJNI_LOG(logDEBUG) << "Fall = " << (jint)valueFall;
+  int32_t status = 0;
+  HAL_SetCounterUpSourceEdge((HAL_CounterHandle)id, valueRise, valueFall, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    clearCounterUpSource
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_clearCounterUpSource(
+    JNIEnv* env, jclass, jint id) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI clearCounterUpSource";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  int32_t status = 0;
+  HAL_ClearCounterUpSource((HAL_CounterHandle)id, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    setCounterDownSource
+ * Signature: (IIZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterDownSource(
+    JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
+    jint analogTriggerType) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterDownSource";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  COUNTERJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle;
+  COUNTERJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType;
+  int32_t status = 0;
+  HAL_SetCounterDownSource((HAL_CounterHandle)id, (HAL_Handle)digitalSourceHandle, 
+                       (HAL_AnalogTriggerType)analogTriggerType, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  if (status == PARAMETER_OUT_OF_RANGE) {
+    ThrowIllegalArgumentException(env,
+                                  "Counter only supports DownSource in "
+                                  "TwoPulse and ExternalDirection modes.");
+    return;
+  }
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    setCounterDownSourceEdge
+ * Signature: (IZZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterDownSourceEdge(
+    JNIEnv* env, jclass, jint id, jboolean valueRise, jboolean valueFall) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterDownSourceEdge";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  COUNTERJNI_LOG(logDEBUG) << "Rise = " << (jint)valueRise;
+  COUNTERJNI_LOG(logDEBUG) << "Fall = " << (jint)valueFall;
+  int32_t status = 0;
+  HAL_SetCounterDownSourceEdge((HAL_CounterHandle)id, valueRise, valueFall, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    clearCounterDownSource
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_clearCounterDownSource(
+    JNIEnv* env, jclass, jint id) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI clearCounterDownSource";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  int32_t status = 0;
+  HAL_ClearCounterDownSource((HAL_CounterHandle)id, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    setCounterUpDownMode
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpDownMode(
+    JNIEnv* env, jclass, jint id) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpDownMode";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  int32_t status = 0;
+  HAL_SetCounterUpDownMode((HAL_CounterHandle)id, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    setCounterExternalDirectionMode
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterExternalDirectionMode(
+    JNIEnv* env, jclass, jint id) {
+  COUNTERJNI_LOG(logDEBUG)
+      << "Calling COUNTERJNI setCounterExternalDirectionMode";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  int32_t status = 0;
+  HAL_SetCounterExternalDirectionMode((HAL_CounterHandle)id, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    setCounterSemiPeriodMode
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterSemiPeriodMode(
+    JNIEnv* env, jclass, jint id, jboolean value) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterSemiPeriodMode";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  COUNTERJNI_LOG(logDEBUG) << "SemiPeriodMode = " << (jint)value;
+  int32_t status = 0;
+  HAL_SetCounterSemiPeriodMode((HAL_CounterHandle)id, value, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    setCounterPulseLengthMode
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterPulseLengthMode(
+    JNIEnv* env, jclass, jint id, jdouble value) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterPulseLengthMode";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  COUNTERJNI_LOG(logDEBUG) << "PulseLengthMode = " << value;
+  int32_t status = 0;
+  HAL_SetCounterPulseLengthMode((HAL_CounterHandle)id, value, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    getCounterSamplesToAverage
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterSamplesToAverage(
+    JNIEnv* env, jclass, jint id) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterSamplesToAverage";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  int32_t status = 0;
+  jint returnValue = HAL_GetCounterSamplesToAverage((HAL_CounterHandle)id, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  COUNTERJNI_LOG(logDEBUG) << "getCounterSamplesToAverageResult = "
+                           << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    setCounterSamplesToAverage
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterSamplesToAverage(
+    JNIEnv* env, jclass, jint id, jint value) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterSamplesToAverage";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  COUNTERJNI_LOG(logDEBUG) << "SamplesToAverage = " << value;
+  int32_t status = 0;
+  HAL_SetCounterSamplesToAverage((HAL_CounterHandle)id, value, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  if (status == PARAMETER_OUT_OF_RANGE) {
+    ThrowBoundaryException(env, value, 1, 127);
+    return;
+  }
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    resetCounter
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_resetCounter(
+    JNIEnv* env, jclass, jint id) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI resetCounter";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  int32_t status = 0;
+  HAL_ResetCounter((HAL_CounterHandle)id, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    getCounter
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounter(
+    JNIEnv* env, jclass, jint id) {
+  // COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounter";
+  // COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  int32_t status = 0;
+  jint returnValue = HAL_GetCounter((HAL_CounterHandle)id, &status);
+  // COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  // COUNTERJNI_LOG(logDEBUG) << "getCounterResult = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    getCounterPeriod
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterPeriod(
+    JNIEnv* env, jclass, jint id) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterPeriod";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  int32_t status = 0;
+  jdouble returnValue = HAL_GetCounterPeriod((HAL_CounterHandle)id, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  COUNTERJNI_LOG(logDEBUG) << "getCounterPeriodResult = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    setCounterMaxPeriod
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterMaxPeriod(
+    JNIEnv* env, jclass, jint id, jdouble value) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterMaxPeriod";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  COUNTERJNI_LOG(logDEBUG) << "MaxPeriod = " << value;
+  int32_t status = 0;
+  HAL_SetCounterMaxPeriod((HAL_CounterHandle)id, value, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    setCounterUpdateWhenEmpty
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpdateWhenEmpty(
+    JNIEnv* env, jclass, jint id, jboolean value) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterMaxPeriod";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  COUNTERJNI_LOG(logDEBUG) << "UpdateWhenEmpty = " << (jint)value;
+  int32_t status = 0;
+  HAL_SetCounterUpdateWhenEmpty((HAL_CounterHandle)id, value, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    getCounterStopped
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterStopped(
+    JNIEnv* env, jclass, jint id) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterStopped";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  int32_t status = 0;
+  jboolean returnValue = HAL_GetCounterStopped((HAL_CounterHandle)id, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  COUNTERJNI_LOG(logDEBUG) << "getCounterStoppedResult = " << (jint)returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    getCounterDirection
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterDirection(
+    JNIEnv* env, jclass, jint id) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterDirection";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  int32_t status = 0;
+  jboolean returnValue = HAL_GetCounterDirection((HAL_CounterHandle)id, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  COUNTERJNI_LOG(logDEBUG) << "getCounterDirectionResult = "
+                           << (jint)returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CounterJNI
+ * Method:    setCounterReverseDirection
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterReverseDirection(
+    JNIEnv* env, jclass, jint id, jboolean value) {
+  COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterReverseDirection";
+  COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
+  COUNTERJNI_LOG(logDEBUG) << "ReverseDirection = " << (jint)value;
+  int32_t status = 0;
+  HAL_SetCounterReverseDirection((HAL_CounterHandle)id, value, &status);
+  COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/DIOJNI.cpp

@@ -0,0 +1,289 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+#include "HAL/cpp/Log.h"
+
+#include "edu_wpi_first_wpilibj_hal_DIOJNI.h"
+
+#include "HAL/DIO.h"
+#include "HAL/PWM.h"
+#include "HALUtil.h"
+#include "HAL/Ports.h"
+#include "HAL/handles/HandlesInternal.h"
+
+using namespace frc;
+
+// set the logging level
+TLogLevel dioJNILogLevel = logWARNING;
+
+#define DIOJNI_LOG(level)     \
+  if (level > dioJNILogLevel) \
+    ;                         \
+  else                        \
+  Log().Get(level)
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+ * Method:    initializeDIOPort
+ * Signature: (IZ)I;
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDIOPort(
+    JNIEnv *env, jclass, jint id, jboolean input) {
+  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI initializeDIOPort";
+  DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
+  DIOJNI_LOG(logDEBUG) << "Input = " << (jint)input;
+  int32_t status = 0;
+  auto dio = HAL_InitializeDIOPort((HAL_PortHandle)id, (uint8_t)input, &status);
+  DIOJNI_LOG(logDEBUG) << "Status = " << status;
+  DIOJNI_LOG(logDEBUG) << "DIO Handle = " << dio;
+  CheckStatusRange(env, status, 0, HAL_GetNumDigitalChannels(),
+                   hal::getPortHandleChannel((HAL_PortHandle)id));
+  return (jint)dio;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+ * Method:    checkDIOChannel
+ * Signature: (I)Z;
+*/
+JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_checkDIOChannel(
+    JNIEnv *env, jclass, jint channel) {
+  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI checkDIOChannel";
+  DIOJNI_LOG(logDEBUG) << "Channel = " << channel;
+  return HAL_CheckDIOChannel(channel);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+ * Method:    freeDIOPort
+ * Signature: (I)V;
+*/
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDIOPort(
+    JNIEnv *env, jclass, jint id) {
+  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDIOPort";
+  DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
+  HAL_FreeDIOPort((HAL_DigitalHandle)id);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+ * Method:    setDIO
+ * Signature: (IS)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIO(
+    JNIEnv *env, jclass, jint id, jshort value) {
+  // DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDIO";
+  // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
+  // DIOJNI_LOG(logDEBUG) << "Value = " << value;
+  int32_t status = 0;
+  HAL_SetDIO((HAL_DigitalHandle)id, value, &status);
+  // DIOJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+ * Method:    setDIODirection
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIODirection(
+  JNIEnv *env, jclass, jint id, jboolean input) {
+  // DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDIO";
+  // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
+  // DIOJNI_LOG(logDEBUG) << "IsInput = " << input;
+  int32_t status = 0;
+  HAL_SetDIODirection((HAL_DigitalHandle)id, input, &status);
+  // DIOJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+ * Method:    getDIO
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIO(JNIEnv *env, jclass, jint id) {
+  // DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIO";
+  // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
+  int32_t status = 0;
+  jboolean returnValue = HAL_GetDIO((HAL_DigitalHandle)id, &status);
+  // DIOJNI_LOG(logDEBUG) << "Status = " << status;
+  // DIOJNI_LOG(logDEBUG) << "getDIOResult = " << (jint)returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+ * Method:    getDIODirection
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIODirection(
+    JNIEnv *env, jclass, jint id) {
+  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIODirection (RR upd)";
+  // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
+  int32_t status = 0;
+  jboolean returnValue = HAL_GetDIODirection((HAL_DigitalHandle)id, &status);
+  // DIOJNI_LOG(logDEBUG) << "Status = " << status;
+  DIOJNI_LOG(logDEBUG) << "getDIODirectionResult = " << (jint)returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+ * Method:    pulse
+ * Signature: (JD)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_pulse(
+    JNIEnv *env, jclass, jint id, jdouble value) {
+  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI pulse (RR upd)";
+  // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
+  // DIOJNI_LOG(logDEBUG) << "Value = " << value;
+  int32_t status = 0;
+  HAL_Pulse((HAL_DigitalHandle)id, value, &status);
+  DIOJNI_LOG(logDEBUG) << "Did it work? Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+ * Method:    isPulsing
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_DIOJNI_isPulsing(JNIEnv *env, jclass, jint id) {
+  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI isPulsing (RR upd)";
+  // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
+  int32_t status = 0;
+  jboolean returnValue = HAL_IsPulsing((HAL_DigitalHandle)id, &status);
+  // DIOJNI_LOG(logDEBUG) << "Status = " << status;
+  DIOJNI_LOG(logDEBUG) << "isPulsingResult = " << (jint)returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+ * Method:    isAnyPulsing
+ * Signature: ()Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_DIOJNI_isAnyPulsing(JNIEnv *env, jclass) {
+  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI isAnyPulsing (RR upd)";
+  int32_t status = 0;
+  jboolean returnValue = HAL_IsAnyPulsing(&status);
+  // DIOJNI_LOG(logDEBUG) << "Status = " << status;
+  DIOJNI_LOG(logDEBUG) << "isAnyPulsingResult = " << (jint)returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+ * Method:    getLoopTiming
+ * Signature: ()S
+ */
+JNIEXPORT jshort JNICALL
+Java_edu_wpi_first_wpilibj_hal_DIOJNI_getLoopTiming(JNIEnv *env, jclass) {
+  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getLoopTimeing";
+  int32_t status = 0;
+  jshort returnValue = HAL_GetPWMLoopTiming(&status);
+  DIOJNI_LOG(logDEBUG) << "Status = " << status;
+  DIOJNI_LOG(logDEBUG) << "LoopTiming = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+ * Method:    allocateDigitalPWM
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_DIOJNI_allocateDigitalPWM(JNIEnv* env, jclass) {
+  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI allocateDigitalPWM";
+  int32_t status = 0;
+  auto pwm = HAL_AllocateDigitalPWM(&status);
+  DIOJNI_LOG(logDEBUG) << "Status = " << status;
+  DIOJNI_LOG(logDEBUG) << "PWM Handle = " << pwm;
+  CheckStatus(env, status);
+  return (jint)pwm;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+ * Method:    freeDigitalPWM
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDigitalPWM(JNIEnv* env, jclass, jint id) {
+  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDigitalPWM";
+  DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id;
+  int32_t status = 0;
+  HAL_FreeDigitalPWM((HAL_DigitalPWMHandle)id, &status);
+  DIOJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+ * Method:    setDigitalPWMRate
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMRate(
+    JNIEnv* env, jclass, jdouble value) {
+  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMRate";
+  DIOJNI_LOG(logDEBUG) << "Rate= " << value;
+  int32_t status = 0;
+  HAL_SetDigitalPWMRate(value, &status);
+  DIOJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+ * Method:    setDigitalPWMDutyCycle
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMDutyCycle(
+    JNIEnv* env, jclass, jint id, jdouble value) {
+  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMDutyCycle";
+  DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id;
+  DIOJNI_LOG(logDEBUG) << "DutyCycle= " << value;
+  int32_t status = 0;
+  HAL_SetDigitalPWMDutyCycle((HAL_DigitalPWMHandle)id, value, &status);
+  DIOJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+ * Method:    setDigitalPWMOutputChannel
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMOutputChannel(
+    JNIEnv* env, jclass, jint id, jint value) {
+  DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMOutputChannel";
+  DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id;
+  DIOJNI_LOG(logDEBUG) << "Channel= " << value;
+  int32_t status = 0;
+  HAL_SetDigitalPWMOutputChannel((HAL_DigitalPWMHandle)id, (uint32_t)value, &status);
+  DIOJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/DigitalGlitchFilterJNI.cpp

@@ -0,0 +1,70 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <jni.h>
+#include "HAL/DIO.h"
+#include "HALUtil.h"
+
+#include "edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI.h"
+
+using namespace frc;
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI
+ * Method:    setFilterSelect
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_setFilterSelect(
+    JNIEnv* env, jclass, jint id, jint filter_index) {
+  int32_t status = 0;
+
+  HAL_SetFilterSelect(static_cast<HAL_DigitalHandle>(id), filter_index,
+                      &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI
+ * Method:    getFilterSelect
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_getFilterSelect(
+    JNIEnv* env, jclass, jint id) {
+  int32_t status = 0;
+
+  jint result =
+      HAL_GetFilterSelect(static_cast<HAL_DigitalHandle>(id), &status);
+  CheckStatus(env, status);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI
+ * Method:    setFilterPeriod
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_setFilterPeriod(
+    JNIEnv* env, jclass, jint filter_index, jint fpga_cycles) {
+  int32_t status = 0;
+
+  HAL_SetFilterPeriod(filter_index, fpga_cycles, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI
+ * Method:    getFilterPeriod
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_DigitalGlitchFilterJNI_getFilterPeriod(
+    JNIEnv* env, jclass, jint filter_index) {
+  int32_t status = 0;
+
+  jint result = HAL_GetFilterPeriod(filter_index, &status);
+  CheckStatus(env, status);
+  return result;
+}

hal/src/main/native/cpp/jni/EncoderJNI.cpp

@@ -0,0 +1,454 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+#include "HAL/cpp/Log.h"
+
+#include "edu_wpi_first_wpilibj_hal_EncoderJNI.h"
+
+#include "HAL/Encoder.h"
+#include "HAL/Errors.h"
+#include "HALUtil.h"
+
+using namespace frc;
+
+// set the logging level
+TLogLevel encoderJNILogLevel = logWARNING;
+
+#define ENCODERJNI_LOG(level)     \
+  if (level > encoderJNILogLevel) \
+    ;                             \
+  else                            \
+  Log().Get(level)
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    initializeEncoder
+ * Signature: (IIIIZI)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder(
+    JNIEnv* env, jclass, jint digitalSourceHandleA, jint analogTriggerTypeA,
+    jint digitalSourceHandleB, jint analogTriggerTypeB, jboolean reverseDirection,
+    jint encodingType) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI initializeEncoder";
+  ENCODERJNI_LOG(logDEBUG) << "Source Handle A = " << digitalSourceHandleA;
+  ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type A = "
+                           << analogTriggerTypeA;
+  ENCODERJNI_LOG(logDEBUG) << "Source Handle B = " << digitalSourceHandleB;
+  ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type B = "
+                           << analogTriggerTypeB;
+  ENCODERJNI_LOG(logDEBUG) << "Reverse direction = " << (jint)reverseDirection;
+  ENCODERJNI_LOG(logDEBUG) << "EncodingType = " << encodingType;
+  int32_t status = 0;
+  auto encoder = HAL_InitializeEncoder(
+      (HAL_Handle)digitalSourceHandleA, (HAL_AnalogTriggerType)analogTriggerTypeA,
+      (HAL_Handle)digitalSourceHandleB, (HAL_AnalogTriggerType)analogTriggerTypeB,
+      reverseDirection, (HAL_EncoderEncodingType)encodingType, &status);
+
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  ENCODERJNI_LOG(logDEBUG) << "ENCODER Handle = " << encoder;
+  CheckStatusForceThrow(env, status);
+  return (jint)encoder;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    freeEncoder
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_freeEncoder(
+    JNIEnv* env, jclass, jint id) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI freeEncoder";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  HAL_FreeEncoder((HAL_EncoderHandle)id, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    getEncoder
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoder(
+    JNIEnv* env, jclass, jint id) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoder";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  jint returnValue = HAL_GetEncoder((HAL_EncoderHandle)id, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  ENCODERJNI_LOG(logDEBUG) << "getEncoderResult = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    getEncoderRaw
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderRaw(
+    JNIEnv* env, jclass, jint id) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderRaw";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  jint returnValue = HAL_GetEncoderRaw((HAL_EncoderHandle)id, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  ENCODERJNI_LOG(logDEBUG) << "getRawEncoderResult = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    getEncodingScaleFactor
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncodingScaleFactor(
+    JNIEnv* env, jclass, jint id) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncodingScaleFactor";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  jint returnValue = HAL_GetEncoderEncodingScale((HAL_EncoderHandle)id, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  ENCODERJNI_LOG(logDEBUG) << "getEncodingScaleFactorResult = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    resetEncoder
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_resetEncoder(
+    JNIEnv* env, jclass, jint id) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI resetEncoder";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  HAL_ResetEncoder((HAL_EncoderHandle)id, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    getEncoderPeriod
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderPeriod(
+    JNIEnv* env, jclass, jint id) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderPeriod";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  double returnValue = HAL_GetEncoderPeriod((HAL_EncoderHandle)id, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  ENCODERJNI_LOG(logDEBUG) << "getEncoderPeriodEncoderResult = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    setEncoderMaxPeriod
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMaxPeriod(
+    JNIEnv* env, jclass, jint id, jdouble value) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderMaxPeriod";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  HAL_SetEncoderMaxPeriod((HAL_EncoderHandle)id, value, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    getEncoderStopped
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderStopped(
+    JNIEnv* env, jclass, jint id) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderStopped";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  jboolean returnValue = HAL_GetEncoderStopped((HAL_EncoderHandle)id, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  ENCODERJNI_LOG(logDEBUG) << "getStoppedEncoderResult = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    getEncoderDirection
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDirection(
+    JNIEnv* env, jclass, jint id) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderDirection";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  jboolean returnValue = HAL_GetEncoderDirection((HAL_EncoderHandle)id, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  ENCODERJNI_LOG(logDEBUG) << "getDirectionEncoderResult = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    getEncoderDistance
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDistance(
+    JNIEnv* env, jclass, jint id) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderDistance";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  jdouble returnValue = HAL_GetEncoderDistance((HAL_EncoderHandle)id, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  ENCODERJNI_LOG(logDEBUG) << "getDistanceEncoderResult = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    getEncoderRate
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderRate(
+    JNIEnv* env, jclass, jint id) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderRate";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  jdouble returnValue = HAL_GetEncoderRate((HAL_EncoderHandle)id, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  ENCODERJNI_LOG(logDEBUG) << "getRateEncoderResult = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    setEncoderMinRate
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMinRate(
+    JNIEnv* env, jclass, jint id, jdouble value) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderMinRate";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  HAL_SetEncoderMinRate((HAL_EncoderHandle)id, value, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    setEncoderDistancePerPulse
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderDistancePerPulse(
+    JNIEnv* env, jclass, jint id, jdouble value) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderDistancePerPulse";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  HAL_SetEncoderDistancePerPulse((HAL_EncoderHandle)id, value, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    setEncoderReverseDirection
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderReverseDirection(
+    JNIEnv* env, jclass, jint id, jboolean value) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderReverseDirection";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  HAL_SetEncoderReverseDirection((HAL_EncoderHandle)id, value, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    setEncoderSamplesToAverage
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderSamplesToAverage(
+    JNIEnv* env, jclass, jint id, jint value) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderSamplesToAverage";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  HAL_SetEncoderSamplesToAverage((HAL_EncoderHandle)id, value, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  if (status == PARAMETER_OUT_OF_RANGE) {
+    ThrowBoundaryException(env, value, 1, 127);
+    return;
+  }
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    getEncoderSamplesToAverage
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderSamplesToAverage(
+    JNIEnv* env, jclass, jint id) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  jint returnValue = HAL_GetEncoderSamplesToAverage((HAL_EncoderHandle)id, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
+                           << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    setEncoderIndexSource
+ * Signature: (IIII)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderIndexSource(
+    JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
+    jint analogTriggerType, jint type) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderIndexSource";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  ENCODERJNI_LOG(logDEBUG) << "Source Handle = " << digitalSourceHandle;
+  ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type = "
+                           << analogTriggerType;
+  ENCODERJNI_LOG(logDEBUG) << "IndexingType = " << type;
+  int32_t status = 0;
+  HAL_SetEncoderIndexSource((HAL_EncoderHandle)id, (HAL_Handle)digitalSourceHandle,
+                            (HAL_AnalogTriggerType)analogTriggerType,
+                            (HAL_EncoderIndexingType)type, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    getEncoderFPGAIndex
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderFPGAIndex(
+    JNIEnv* env, jclass, jint id) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  jint returnValue = HAL_GetEncoderFPGAIndex((HAL_EncoderHandle)id, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
+                           << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    getEncoderEncodingScale
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderEncodingScale(
+    JNIEnv* env, jclass, jint id) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  jint returnValue = HAL_GetEncoderEncodingScale((HAL_EncoderHandle)id, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
+                           << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    getEncoderDecodingScaleFactor
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDecodingScaleFactor(
+    JNIEnv* env, jclass, jint id) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  jdouble returnValue = HAL_GetEncoderDecodingScaleFactor((HAL_EncoderHandle)id, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
+                           << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    getEncoderDistancePerPulse
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDistancePerPulse(
+    JNIEnv* env, jclass, jint id) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  jdouble returnValue = HAL_GetEncoderDistancePerPulse((HAL_EncoderHandle)id, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
+                           << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_EncoderJNI
+ * Method:    getEncoderEncodingType
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderEncodingType(
+    JNIEnv* env, jclass, jint id) {
+  ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
+  ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
+  int32_t status = 0;
+  jint returnValue = HAL_GetEncoderEncodingType((HAL_EncoderHandle)id, &status);
+  ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
+  ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
+                           << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/HAL.cpp

@@ -0,0 +1,433 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <cstring>
+
+#include <assert.h>
+#include <jni.h>
+#include "HAL/cpp/Log.h"
+
+#include "HAL/HAL.h"
+#include "HAL/DriverStation.h"
+#include "edu_wpi_first_wpilibj_hal_HAL.h"
+#include "HALUtil.h"
+#include "support/jni_util.h"
+
+using namespace frc;
+using namespace wpi::java;
+
+// set the logging level
+static TLogLevel netCommLogLevel = logWARNING;
+
+#define NETCOMM_LOG(level)     \
+  if (level > netCommLogLevel) \
+    ;                          \
+  else                         \
+  Log().Get(level)
+
+extern "C" {
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    Initialize
+ * Signature: (Z)II
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_initialize(JNIEnv*, jclass, jint timeout, jint mode) {
+  return HAL_Initialize(timeout, mode);
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    observeUserProgramStarting
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramStarting(JNIEnv*, jclass) {
+  HAL_ObserveUserProgramStarting();
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    observeUserProgramDisabled
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramDisabled(JNIEnv*, jclass) {
+  HAL_ObserveUserProgramDisabled();
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    observeUserProgramAutonomous
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramAutonomous(
+    JNIEnv*, jclass) {
+  HAL_ObserveUserProgramAutonomous();
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    observeUserProgramTeleop
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramTeleop(JNIEnv*, jclass) {
+  HAL_ObserveUserProgramTeleop();
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    observeUserProgramTest
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramTest(JNIEnv*, jclass) {
+  HAL_ObserveUserProgramTest();
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_Report
+ * Signature: (IIILjava/lang/String;)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_report(
+    JNIEnv* paramEnv, jclass, jint paramResource, jint paramInstanceNumber,
+    jint paramContext, jstring paramFeature) {
+  JStringRef featureStr{paramEnv, paramFeature};
+  NETCOMM_LOG(logDEBUG) << "Calling HAL report "
+                        << "res:" << paramResource
+                        << " instance:" << paramInstanceNumber
+                        << " context:" << paramContext
+                        << " feature:" << featureStr.c_str();
+  jint returnValue =
+      HAL_Report(paramResource, paramInstanceNumber, paramContext, featureStr.c_str());
+  return returnValue;
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    NativeGetControlWord
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetControlWord(JNIEnv*, jclass) {
+  NETCOMM_LOG(logDEBUG) << "Calling HAL Control Word";
+  static_assert(sizeof(HAL_ControlWord) == sizeof(jint),
+      "Java int must match the size of control word");
+  HAL_ControlWord controlWord;
+  std::memset(&controlWord, 0, sizeof(HAL_ControlWord));
+  HAL_GetControlWord(&controlWord);
+  jint retVal = 0;
+  std::memcpy(&retVal, &controlWord, sizeof(HAL_ControlWord));
+  return retVal;
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    NativeGetAllianceStation
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetAllianceStation(JNIEnv*, jclass) {
+  NETCOMM_LOG(logDEBUG) << "Calling HAL Alliance Station";
+  int32_t status = 0;
+  auto allianceStation = HAL_GetAllianceStation(&status);
+  return static_cast<jint>(allianceStation);
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetJoystickAxes
+ * Signature: (B[F)S
+ */
+JNIEXPORT jshort JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxes(JNIEnv* env, jclass,
+                                                   jbyte joystickNum,
+                                                   jfloatArray axesArray) {
+  NETCOMM_LOG(logDEBUG) << "Calling HALJoystickAxes";
+  HAL_JoystickAxes axes;
+  HAL_GetJoystickAxes(joystickNum, &axes);
+
+  jsize javaSize = env->GetArrayLength(axesArray);
+  if (axes.count > javaSize)
+  {
+    ThrowIllegalArgumentException(env, "Native array size larger then passed in java array size");
+  }
+
+  env->SetFloatArrayRegion(axesArray, 0, axes.count, axes.axes);
+
+  return axes.count;
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetJoystickPOVs
+ * Signature: (B[S)S
+ */
+JNIEXPORT jshort JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickPOVs(JNIEnv* env, jclass,
+                                                   jbyte joystickNum,
+                                                   jshortArray povsArray) {
+  NETCOMM_LOG(logDEBUG) << "Calling HALJoystickPOVs";
+  HAL_JoystickPOVs povs;
+  HAL_GetJoystickPOVs(joystickNum, &povs);
+
+  jsize javaSize = env->GetArrayLength(povsArray);
+  if (povs.count > javaSize)
+  {
+    ThrowIllegalArgumentException(env, "Native array size larger then passed in java array size");
+  }
+
+  env->SetShortArrayRegion(povsArray, 0, povs.count, povs.povs);
+
+  return povs.count;
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetJoystickButtons
+ * Signature: (BL)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickButtons(JNIEnv* env, jclass,
+                                                      jbyte joystickNum,
+                                                      jobject count) {
+  NETCOMM_LOG(logDEBUG) << "Calling HALJoystickButtons";
+  HAL_JoystickButtons joystickButtons;
+  HAL_GetJoystickButtons(joystickNum, &joystickButtons);
+  jbyte *countPtr = (jbyte *)env->GetDirectBufferAddress(count);
+  NETCOMM_LOG(logDEBUG) << "Buttons = " << joystickButtons.buttons;
+  NETCOMM_LOG(logDEBUG) << "Count = " << (jint)joystickButtons.count;
+  *countPtr = joystickButtons.count;
+  NETCOMM_LOG(logDEBUG) << "CountBuffer = " << (jint)*countPtr;
+  return joystickButtons.buttons;
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_SetJoystickOutputs
+ * Signature: (BISS)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_setJoystickOutputs(JNIEnv*, jclass,
+                                                      jbyte port, jint outputs,
+                                                      jshort leftRumble,
+                                                      jshort rightRumble) {
+  NETCOMM_LOG(logDEBUG) << "Calling HAL_SetJoystickOutputs on port " << port;
+  NETCOMM_LOG(logDEBUG) << "Outputs: " << outputs;
+  NETCOMM_LOG(logDEBUG) << "Left Rumble: " << leftRumble
+                        << " Right Rumble: " << rightRumble;
+  return HAL_SetJoystickOutputs(port, outputs, leftRumble, rightRumble);
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetJoystickIsXbox
+ * Signature: (B)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickIsXbox(JNIEnv*, jclass,
+                                                     jbyte port) {
+  NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickIsXbox";
+  return HAL_GetJoystickIsXbox(port);
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetJoystickType
+ * Signature: (B)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickType(JNIEnv*, jclass,
+                                                   jbyte port) {
+  NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickType";
+  return HAL_GetJoystickType(port);
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetJoystickName
+ * Signature: (B)Ljava/lang/String;
+ */
+JNIEXPORT jstring JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickName(JNIEnv* env, jclass,
+                                                   jbyte port) {
+  NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickName";
+  char *joystickName = HAL_GetJoystickName(port);
+  jstring str = MakeJString(env, joystickName);
+  HAL_FreeJoystickName(joystickName);
+  return str;
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetJoystickAxisType
+ * Signature: (BB)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxisType(JNIEnv*, jclass,
+                                                       jbyte joystickNum,
+                                                       jbyte axis) {
+  NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickAxisType";
+  return HAL_GetJoystickAxisType(joystickNum, axis);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HAL
+ * Method:    isNewControlData
+ * Signature: ()Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_isNewControlData(JNIEnv *, jclass) {
+  return static_cast<jboolean>(HAL_IsNewControlData());
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    waitForDSData
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_waitForDSData(JNIEnv* env, jclass) {
+  HAL_WaitForDSData();
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    releaseDSMutex
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_releaseDSMutex(JNIEnv* env, jclass) {
+  HAL_ReleaseDSMutex();
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HAL
+ * Method:    waitForDSDataTimeout
+ * Signature: (D)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_waitForDSDataTimeout(JNIEnv *, jclass,
+                                                        jdouble timeout) {
+  return static_cast<jboolean>(HAL_WaitForDSDataTimeout(timeout));
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetMatchTime
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getMatchTime(JNIEnv* env, jclass) {
+  int32_t status = 0;
+  return HAL_GetMatchTime(&status);
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetSystemActive
+ * Signature: ()Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getSystemActive(JNIEnv* env, jclass) {
+  int32_t status = 0;
+  bool val = HAL_GetSystemActive(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetBrownedOut
+ * Signature: ()Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getBrownedOut(JNIEnv* env, jclass) {
+  int32_t status = 0;
+  bool val = HAL_GetBrownedOut(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HAL
+ * Method:    getMatchInfo
+ * Signature: (Ledu/wpi/first/wpilibj/hal/MatchInfoData;)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getMatchInfo
+(JNIEnv * env, jclass, jobject info) {
+  HAL_MatchInfo matchInfo;
+  auto status = HAL_GetMatchInfo(&matchInfo);
+  if (status == 0) {
+    SetMatchInfoObject(env, info, matchInfo);
+  }
+  HAL_FreeMatchInfo(&matchInfo);
+  return status;
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_SendError
+ * Signature: (ZIZLjava/lang/String;Ljava/lang/String;Ljava/lang/String;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_sendError(JNIEnv* env, jclass,
+                                             jboolean isError, jint errorCode,
+                                             jboolean isLVCode, jstring details,
+                                             jstring location,
+                                             jstring callStack,
+                                             jboolean printMsg) {
+  JStringRef detailsStr{env, details};
+  JStringRef locationStr{env, location};
+  JStringRef callStackStr{env, callStack};
+
+  NETCOMM_LOG(logDEBUG) << "Send Error: " << detailsStr.c_str();
+  NETCOMM_LOG(logDEBUG) << "Location: " << locationStr.c_str();
+  NETCOMM_LOG(logDEBUG) << "Call Stack: " << callStackStr.c_str();
+  jint returnValue = HAL_SendError(isError, errorCode, isLVCode, detailsStr.c_str(),
+                                  locationStr.c_str(), callStackStr.c_str(), printMsg);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HAL
+ * Method:    getPortWithModule
+ * Signature: (BB)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getPortWithModule(
+    JNIEnv* env, jclass, jbyte module, jbyte channel) {
+  // FILE_LOG(logDEBUG) << "Calling HAL getPortWithModlue";
+  // FILE_LOG(logDEBUG) << "Module = " << (jint)module;
+  // FILE_LOG(logDEBUG) << "Channel = " << (jint)channel;
+  HAL_PortHandle port = HAL_GetPortWithModule(module, channel);
+  // FILE_LOG(logDEBUG) << "Port Handle = " << port;
+  return (jint)port;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HAL
+ * Method:    getPort
+ * Signature: (B)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_HAL_getPort(
+    JNIEnv* env, jclass, jbyte channel) {
+  // FILE_LOG(logDEBUG) << "Calling HAL getPortWithModlue";
+  // FILE_LOG(logDEBUG) << "Module = " << (jint)module;
+  // FILE_LOG(logDEBUG) << "Channel = " << (jint)channel;
+  HAL_PortHandle port = HAL_GetPort(channel);
+  // FILE_LOG(logDEBUG) << "Port Handle = " << port;
+  return (jint)port;
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/HALUtil.cpp

@@ -0,0 +1,456 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "HALUtil.h"
+
+#include <assert.h>
+#include <errno.h>
+#include <jni.h>
+
+#include <cstdio>
+#include <cstring>
+#include <string>
+
+#include "HAL/CAN.h"
+#include "HAL/HAL.h"
+#include "HAL/DriverStation.h"
+#include "HAL/Errors.h"
+#include "HAL/cpp/Log.h"
+#include "edu_wpi_first_wpilibj_hal_HALUtil.h"
+#include "llvm/SmallString.h"
+#include "llvm/raw_ostream.h"
+#include "support/jni_util.h"
+
+using namespace wpi::java;
+
+// set the logging level
+TLogLevel halUtilLogLevel = logWARNING;
+
+#define HALUTIL_LOG(level)     \
+  if (level > halUtilLogLevel) \
+    ;                          \
+  else                         \
+  Log().Get(level)
+
+#define kRioStatusOffset -63000
+#define kRioStatusSuccess 0
+#define kRIOStatusBufferInvalidSize (kRioStatusOffset - 80)
+#define kRIOStatusOperationTimedOut -52007
+#define kRIOStatusFeatureNotSupported (kRioStatusOffset - 193)
+#define kRIOStatusResourceNotInitialized -52010
+
+static JavaVM *jvm = nullptr;
+static JException runtimeExCls;
+static JException illegalArgExCls;
+static JException boundaryExCls;
+static JException allocationExCls;
+static JException halHandleExCls;
+static JException canInvalidBufferExCls;
+static JException canMessageNotFoundExCls;
+static JException canMessageNotAllowedExCls;
+static JException canNotInitializedExCls;
+static JException uncleanStatusExCls;
+static JClass pwmConfigDataResultCls;
+static JClass canStatusCls;
+static JClass matchInfoDataCls;
+static JClass accumulatorResultCls;
+
+namespace frc {
+
+void ThrowAllocationException(JNIEnv *env, int32_t minRange, int32_t maxRange,
+    int32_t requestedValue, int32_t status) {
+  const char *message = HAL_GetErrorMessage(status);
+  llvm::SmallString<1024> buf;
+  llvm::raw_svector_ostream oss(buf);
+  oss << " Code: " << status << ". " << message << ", Minimum Value: "
+      << minRange << ", Maximum Value: " << maxRange << ", Requested Value: "
+      << requestedValue;
+  env->ThrowNew(allocationExCls, buf.c_str());
+  allocationExCls.Throw(env, buf.c_str());
+}
+
+void ThrowHalHandleException(JNIEnv *env, int32_t status) {
+  const char *message = HAL_GetErrorMessage(status);
+  llvm::SmallString<1024> buf;
+  llvm::raw_svector_ostream oss(buf);
+  oss << " Code: " << status << ". " << message;
+  halHandleExCls.Throw(env, buf.c_str());
+}
+
+void ReportError(JNIEnv *env, int32_t status, bool doThrow) {
+  if (status == 0) return;
+  if (status == HAL_HANDLE_ERROR) {
+    ThrowHalHandleException(env, status);
+  }
+  const char *message = HAL_GetErrorMessage(status);
+  if (doThrow && status < 0) {
+    llvm::SmallString<1024> buf;
+    llvm::raw_svector_ostream oss(buf);
+    oss << " Code: " << status << ". " << message;
+    runtimeExCls.Throw(env, buf.c_str());
+  } else {
+    std::string func;
+    auto stack = GetJavaStackTrace(env, &func, "edu.wpi.first.wpilibj");
+    HAL_SendError(1, status, 0, message, func.c_str(), stack.c_str(), 1);
+  }
+}
+
+void ThrowError(JNIEnv *env, int32_t status, int32_t minRange, int32_t maxRange,
+                int32_t requestedValue) {
+  if (status == 0) return;
+  if (status == NO_AVAILABLE_RESOURCES ||
+      status == RESOURCE_IS_ALLOCATED ||
+      status == RESOURCE_OUT_OF_RANGE) {
+    ThrowAllocationException(env, minRange, maxRange, requestedValue, status);
+  }
+  if (status == HAL_HANDLE_ERROR) {
+    ThrowHalHandleException(env, status);
+  }
+  const char *message = HAL_GetErrorMessage(status);
+  llvm::SmallString<1024> buf;
+  llvm::raw_svector_ostream oss(buf);
+  oss << " Code: " << status << ". " << message;
+  runtimeExCls.Throw(env, buf.c_str());
+}
+
+void ReportCANError(JNIEnv *env, int32_t status, int message_id) {
+  if (status >= 0) return;
+  switch (status) {
+    case kRioStatusSuccess:
+      // Everything is ok... don't throw.
+      break;
+    case HAL_ERR_CANSessionMux_InvalidBuffer:
+    case kRIOStatusBufferInvalidSize: {
+      static jmethodID invalidBufConstruct = nullptr;
+      if (!invalidBufConstruct)
+        invalidBufConstruct =
+            env->GetMethodID(canInvalidBufferExCls, "<init>", "()V");
+      jobject exception =
+          env->NewObject(canInvalidBufferExCls, invalidBufConstruct);
+      env->Throw(static_cast<jthrowable>(exception));
+      break;
+    }
+    case HAL_ERR_CANSessionMux_MessageNotFound:
+    case kRIOStatusOperationTimedOut: {
+      static jmethodID messageNotFoundConstruct = nullptr;
+      if (!messageNotFoundConstruct)
+        messageNotFoundConstruct =
+            env->GetMethodID(canMessageNotFoundExCls, "<init>", "()V");
+      jobject exception =
+          env->NewObject(canMessageNotFoundExCls, messageNotFoundConstruct);
+      env->Throw(static_cast<jthrowable>(exception));
+      break;
+    }
+    case HAL_ERR_CANSessionMux_NotAllowed:
+    case kRIOStatusFeatureNotSupported: {
+      llvm::SmallString<100> buf;
+      llvm::raw_svector_ostream oss(buf);
+      oss << "MessageID = " << message_id;
+      canMessageNotAllowedExCls.Throw(env, buf.c_str());
+      break;
+    }
+    case HAL_ERR_CANSessionMux_NotInitialized:
+    case kRIOStatusResourceNotInitialized: {
+      static jmethodID notInitConstruct = nullptr;
+      if (!notInitConstruct)
+        notInitConstruct =
+            env->GetMethodID(canNotInitializedExCls, "<init>", "()V");
+      jobject exception =
+          env->NewObject(canNotInitializedExCls, notInitConstruct);
+      env->Throw(static_cast<jthrowable>(exception));
+      break;
+    }
+    default: {
+      llvm::SmallString<100> buf;
+      llvm::raw_svector_ostream oss(buf);
+      oss << "Fatal status code detected: " << status;
+      uncleanStatusExCls.Throw(env, buf.c_str());
+      break;
+    }
+  }
+}
+
+void ThrowIllegalArgumentException(JNIEnv *env, const char *msg) {
+  illegalArgExCls.Throw(env, msg);
+}
+
+void ThrowBoundaryException(JNIEnv *env, double value, double lower,
+                            double upper) {
+  static jmethodID getMessage = nullptr;
+  if (!getMessage)
+    getMessage = env->GetStaticMethodID(boundaryExCls, "getMessage",
+                                        "(DDD)Ljava/lang/String;");
+
+  static jmethodID constructor = nullptr;
+  if (!constructor)
+    constructor =
+        env->GetMethodID(boundaryExCls, "<init>", "(Ljava/lang/String;)V");
+
+  jobject msg =
+      env->CallStaticObjectMethod(boundaryExCls, getMessage,
+                                  static_cast<jdouble>(value),
+                                  static_cast<jdouble>(lower),
+                                  static_cast<jdouble>(upper));
+  jobject ex = env->NewObject(boundaryExCls, constructor, msg);
+  env->Throw(static_cast<jthrowable>(ex));
+}
+
+jobject CreatePWMConfigDataResult(JNIEnv *env, int32_t maxPwm,
+                  int32_t deadbandMaxPwm, int32_t centerPwm,
+                  int32_t deadbandMinPwm, int32_t minPwm) {
+  static jmethodID constructor =
+      env->GetMethodID(pwmConfigDataResultCls, "<init>",
+                       "(IIIII)V");
+  return env->NewObject(pwmConfigDataResultCls, constructor, maxPwm,
+                        deadbandMaxPwm, centerPwm, deadbandMinPwm,
+                        minPwm);
+}
+
+void SetCanStatusObject(JNIEnv *env, jobject canStatus,
+                        float percentBusUtilization,
+                        uint32_t busOffCount, uint32_t txFullCount,
+                        uint32_t receiveErrorCount,
+                        uint32_t transmitErrorCount) {
+  static jmethodID func = env->GetMethodID(canStatusCls, "setStatus",
+                                           "(DIIII)V");
+  env->CallObjectMethod(canStatus, func, (jdouble)percentBusUtilization,
+                        (jint)busOffCount, (jint)txFullCount,
+                        (jint)receiveErrorCount, (jint)transmitErrorCount);
+}
+
+void SetMatchInfoObject(JNIEnv* env, jobject matchStatus,
+                        const HAL_MatchInfo& matchInfo) {
+  static jmethodID func = env->GetMethodID(matchInfoDataCls, "setData",
+      "(Ljava/lang/String;Ljava/lang/String;III)V");
+
+  env->CallObjectMethod(matchStatus, func,
+      MakeJString(env, matchInfo.eventName),
+      MakeJString(env, matchInfo.gameSpecificMessage),
+      (jint)matchInfo.matchNumber,
+      (jint)matchInfo.replayNumber,
+      (jint)matchInfo.matchType);
+}
+
+void SetAccumulatorResultObject(JNIEnv* env, jobject accumulatorResult,
+                                int64_t value, int64_t count) {
+  static jmethodID func = env->GetMethodID(accumulatorResultCls, "set",
+      "(JJ)V");
+
+  env->CallObjectMethod(accumulatorResult, func, (jlong)value, (jlong)count);
+}
+
+JavaVM* GetJVM() {
+  return jvm;
+}
+
+}  // namespace frc
+
+namespace sim {
+  jint SimOnLoad(JavaVM* vm, void* reserved);
+  void SimOnUnload(JavaVM* vm, void* reserved);
+}
+
+using namespace frc;
+
+extern "C" {
+
+//
+// indicate JNI version support desired and load classes
+//
+JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved) {
+  jvm = vm;
+
+  // set our logging level
+  Log::ReportingLevel() = logDEBUG;
+
+  JNIEnv *env;
+  if (vm->GetEnv(reinterpret_cast<void **>(&env), JNI_VERSION_1_6) != JNI_OK)
+    return JNI_ERR;
+
+  runtimeExCls = JException(env, "java/lang/RuntimeException");
+  if (!runtimeExCls) return JNI_ERR;
+
+  illegalArgExCls = JException(env, "java/lang/IllegalArgumentException");
+  if (!illegalArgExCls) return JNI_ERR;
+
+  boundaryExCls = JException(env, "edu/wpi/first/wpilibj/util/BoundaryException");
+  if (!boundaryExCls) return JNI_ERR;
+
+  allocationExCls = JException(env, "edu/wpi/first/wpilibj/util/AllocationException");
+  if (!allocationExCls) return JNI_ERR;
+
+  halHandleExCls = JException(env, "edu/wpi/first/wpilibj/util/HalHandleException");
+  if (!halHandleExCls) return JNI_ERR;
+
+  canInvalidBufferExCls = JException(env, "edu/wpi/first/wpilibj/can/CANInvalidBufferException");
+  if (!canInvalidBufferExCls) return JNI_ERR;
+
+  canMessageNotFoundExCls = JException(env, "edu/wpi/first/wpilibj/can/CANMessageNotFoundException");
+  if (!canMessageNotFoundExCls) return JNI_ERR;
+
+  canMessageNotAllowedExCls = JException(env, "edu/wpi/first/wpilibj/can/CANMessageNotAllowedException");
+  if (!canMessageNotAllowedExCls) return JNI_ERR;
+
+  canNotInitializedExCls = JException(env, "edu/wpi/first/wpilibj/can/CANNotInitializedException");
+  if (!canNotInitializedExCls) return JNI_ERR;
+
+  uncleanStatusExCls = JException(env,"edu/wpi/first/wpilibj/util/UncleanStatusException");
+  if (!uncleanStatusExCls) return JNI_ERR;
+
+  pwmConfigDataResultCls = JClass(env, "edu/wpi/first/wpilibj/PWMConfigDataResult");
+  if (!pwmConfigDataResultCls) return JNI_ERR;
+
+  canStatusCls = JClass(env, "edu/wpi/first/wpilibj/can/CANStatus");
+  if (!canStatusCls) return JNI_ERR;
+
+  matchInfoDataCls = JClass(env, "edu/wpi/first/wpilibj/hal/MatchInfoData");
+  if (!matchInfoDataCls) return JNI_ERR;
+
+  accumulatorResultCls = JClass(env, "edu/wpi/first/wpilibj/AccumulatorResult");
+  if (!accumulatorResultCls) return JNI_ERR;
+
+  return sim::SimOnLoad(vm, reserved);
+}
+
+JNIEXPORT void JNICALL JNI_OnUnload(JavaVM *vm, void *reserved) {
+  sim::SimOnUnload(vm, reserved);
+
+  JNIEnv *env;
+  if (vm->GetEnv(reinterpret_cast<void **>(&env), JNI_VERSION_1_6) != JNI_OK)
+    return;
+  // Delete global references
+  runtimeExCls.free(env);
+  illegalArgExCls.free(env);
+  boundaryExCls.free(env);
+  allocationExCls.free(env);
+  halHandleExCls.free(env);
+  canInvalidBufferExCls.free(env);
+  canMessageNotFoundExCls.free(env);
+  canMessageNotAllowedExCls.free(env);
+  canNotInitializedExCls.free(env);
+  uncleanStatusExCls.free(env);
+  pwmConfigDataResultCls.free(env);
+  canStatusCls.free(env);
+  matchInfoDataCls.free(env);
+  jvm = nullptr;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    getFPGAVersion
+ * Signature: ()S
+ */
+JNIEXPORT jshort JNICALL
+Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAVersion(JNIEnv *env, jclass) {
+  HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGAVersion";
+  int32_t status = 0;
+  jshort returnValue = HAL_GetFPGAVersion(&status);
+  HALUTIL_LOG(logDEBUG) << "Status = " << status;
+  HALUTIL_LOG(logDEBUG) << "FPGAVersion = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    getFPGARevision
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGARevision(JNIEnv *env, jclass) {
+  HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGARevision";
+  int32_t status = 0;
+  jint returnValue = HAL_GetFPGARevision(&status);
+  HALUTIL_LOG(logDEBUG) << "Status = " << status;
+  HALUTIL_LOG(logDEBUG) << "FPGARevision = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    getFPGATime
+ * Signature: ()J
+ */
+JNIEXPORT jlong JNICALL
+Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGATime(JNIEnv *env, jclass) {
+  // HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
+  int32_t status = 0;
+  jlong returnValue = HAL_GetFPGATime(&status);
+  // HALUTIL_LOG(logDEBUG) << "Status = " << status;
+  // HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    getHALRuntimeType
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALRuntimeType(JNIEnv *env, jclass) {
+  // HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALRuntimeType";
+  jint returnValue = HAL_GetRuntimeType();
+  // HALUTIL_LOG(logDEBUG) << "RuntimeType = " << returnValue;
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    getFPGAButton
+ * Signature: ()I
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAButton(JNIEnv *env, jclass) {
+  // HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
+  int32_t status = 0;
+  jboolean returnValue = HAL_GetFPGAButton(&status);
+  // HALUTIL_LOG(logDEBUG) << "Status = " << status;
+  // HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
+  CheckStatus(env, status);
+  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 = HAL_GetErrorMessage(paramId);
+  HALUTIL_LOG(logDEBUG) << "Calling HALUtil HAL_GetErrorMessage id=" << paramId
+                        << " msg=" << msg;
+  return MakeJString(paramEnv, msg);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    getHALErrno
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrno(JNIEnv *, jclass) {
+  return errno;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    getHALstrerror
+ * Signature: (I)Ljava/lang/String;
+ */
+JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALstrerror(
+    JNIEnv *env, jclass, jint errorCode) {
+  const char *msg = strerror(errno);
+  HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALstrerror errorCode="
+                        << errorCode << " msg=" << msg;
+  return MakeJString(env, msg);
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/HALUtil.h

@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#ifndef HALUTIL_H
+#define HALUTIL_H
+
+#include <stdint.h>
+
+#include <jni.h>
+
+struct HAL_MatchInfo;
+
+namespace frc {
+
+void ReportError(JNIEnv *env, int32_t status, bool doThrow = true);
+
+void ThrowError(JNIEnv *env, int32_t status, int32_t minRange, int32_t maxRange,
+                int32_t requestedValue);
+
+inline bool CheckStatus(JNIEnv *env, int32_t status, bool doThrow = true) {
+  if (status != 0) ReportError(env, status, doThrow);
+  return status == 0;
+}
+
+inline bool CheckStatusRange(JNIEnv *env, int32_t status, int32_t minRange,
+                             int32_t maxRange, int32_t requestedValue) {
+  if (status != 0) ThrowError(env, status, minRange, maxRange, requestedValue);
+  return status == 0;
+}
+
+inline bool CheckStatusForceThrow(JNIEnv *env, int32_t status) {
+  if (status != 0) ThrowError(env, status, 0, 0, 0);
+  return status == 0;
+}
+
+void ReportCANError(JNIEnv *env, int32_t status, int32_t message_id);
+
+inline bool CheckCANStatus(JNIEnv *env, int32_t status, int32_t message_id) {
+  if (status != 0) ReportCANError(env, status, message_id);
+  return status == 0;
+}
+
+void ThrowIllegalArgumentException(JNIEnv *env, const char *msg);
+void ThrowBoundaryException(JNIEnv *env, double value, double lower,
+                            double upper);
+
+jobject CreatePWMConfigDataResult(JNIEnv *env, int32_t maxPwm,
+                  int32_t deadbandMaxPwm, int32_t centerPwm,
+                  int32_t deadbandMinPwm, int32_t minPwm);
+
+void SetCanStatusObject(JNIEnv *env, jobject canStatus,
+                        float percentBusUtilization,
+                        uint32_t busOffCount, uint32_t txFullCount,
+                        uint32_t receiveErrorCount,
+                        uint32_t transmitErrorCount);
+
+void SetMatchInfoObject(JNIEnv* env, jobject matchStatus,
+                        const HAL_MatchInfo& matchInfo);
+
+void SetAccumulatorResultObject(JNIEnv* env, jobject accumulatorResult,
+                                int64_t value, int64_t count);
+
+JavaVM* GetJVM();
+
+}  // namespace frc
+
+#endif  // HALUTIL_H

hal/src/main/native/cpp/jni/I2CJNI.cpp

@@ -0,0 +1,196 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+#include "HAL/cpp/Log.h"
+
+#include "edu_wpi_first_wpilibj_hal_I2CJNI.h"
+
+#include "HAL/I2C.h"
+#include "HALUtil.h"
+#include "support/jni_util.h"
+
+using namespace frc;
+using namespace wpi::java;
+
+// set the logging level
+TLogLevel i2cJNILogLevel = logWARNING;
+
+#define I2CJNI_LOG(level)     \
+  if (level > i2cJNILogLevel) \
+    ;                         \
+  else                        \
+  Log().Get(level)
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_I2CJNI
+ * Method:    i2cInitialize
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CInitialize(
+    JNIEnv* env, jclass, jint port) {
+  I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CInititalize";
+  I2CJNI_LOG(logDEBUG) << "Port: " << port;
+  int32_t status = 0;
+  HAL_InitializeI2C(static_cast<HAL_I2CPort>(port), &status);
+  I2CJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatusForceThrow(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_I2CJNI
+ * Method:    i2CTransaction
+ * Signature: (IBLjava/nio/ByteBuffer;BLjava/nio/ByteBuffer;B)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransaction(
+    JNIEnv* env, jclass, jint port, jbyte address, jobject dataToSend,
+    jbyte sendSize, jobject dataReceived, jbyte receiveSize) {
+  I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CTransaction";
+  I2CJNI_LOG(logDEBUG) << "Port = " << port;
+  I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
+  uint8_t* dataToSendPtr = nullptr;
+  if (dataToSend != 0) {
+    dataToSendPtr = (uint8_t*)env->GetDirectBufferAddress(dataToSend);
+  }
+  I2CJNI_LOG(logDEBUG) << "DataToSendPtr = " << (jint*)dataToSendPtr;
+  I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
+  uint8_t* dataReceivedPtr =
+      (uint8_t*)env->GetDirectBufferAddress(dataReceived);
+  I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << (jint*)dataReceivedPtr;
+  I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << (jint)receiveSize;
+  jint returnValue = HAL_TransactionI2C(static_cast<HAL_I2CPort>(port), address, dataToSendPtr, sendSize,
+                                    dataReceivedPtr, receiveSize);
+  I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_I2CJNI
+ * Method:    i2CTransactionB
+ * Signature: (IB[BB[BB)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransactionB(
+    JNIEnv* env, jclass, jint port, jbyte address, jbyteArray dataToSend,
+    jbyte sendSize, jbyteArray dataReceived, jbyte receiveSize) {
+  I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CTransactionB";
+  I2CJNI_LOG(logDEBUG) << "Port = " << port;
+  I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
+  I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
+  llvm::SmallVector<uint8_t, 128> recvBuf;
+  recvBuf.resize(receiveSize);
+  I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << (jint)receiveSize;
+  jint returnValue =
+      HAL_TransactionI2C(static_cast<HAL_I2CPort>(port), address,
+                         reinterpret_cast<const uint8_t *>(
+                             JByteArrayRef(env, dataToSend).array().data()),
+                         sendSize, recvBuf.data(), receiveSize);
+  env->SetByteArrayRegion(dataReceived, 0, receiveSize,
+                          reinterpret_cast<const jbyte *>(recvBuf.data()));
+  I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_I2CJNI
+ * Method:    i2CWrite
+ * Signature: (IBLjava/nio/ByteBuffer;B)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWrite(
+    JNIEnv* env, jclass, jint port, jbyte address, jobject dataToSend,
+    jbyte sendSize) {
+  I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CWrite";
+  I2CJNI_LOG(logDEBUG) << "Port = " << port;
+  I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
+  uint8_t* dataToSendPtr = nullptr;
+
+  if (dataToSend != 0) {
+    dataToSendPtr = (uint8_t*)env->GetDirectBufferAddress(dataToSend);
+  }
+  I2CJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
+  I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
+  jint returnValue = HAL_WriteI2C(static_cast<HAL_I2CPort>(port), address, dataToSendPtr, sendSize);
+  I2CJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)returnValue;
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_I2CJNI
+ * Method:    i2CWriteB
+ * Signature: (IB[BB)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWriteB(
+    JNIEnv* env, jclass, jint port, jbyte address, jbyteArray dataToSend,
+    jbyte sendSize) {
+  I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CWrite";
+  I2CJNI_LOG(logDEBUG) << "Port = " << port;
+  I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
+  I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
+  jint returnValue =
+      HAL_WriteI2C(static_cast<HAL_I2CPort>(port), address,
+                   reinterpret_cast<const uint8_t *>(
+                       JByteArrayRef(env, dataToSend).array().data()),
+                   sendSize);
+  I2CJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)returnValue;
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_I2CJNI
+ * Method:    i2CRead
+ * Signature: (IBLjava/nio/ByteBuffer;B)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CRead(
+    JNIEnv* env, jclass, jint port, jbyte address, jobject dataReceived,
+    jbyte receiveSize) {
+  I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CRead";
+  I2CJNI_LOG(logDEBUG) << "Port = " << port;
+  I2CJNI_LOG(logDEBUG) << "Address = " << address;
+  uint8_t* dataReceivedPtr =
+      (uint8_t*)env->GetDirectBufferAddress(dataReceived);
+  I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
+  I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << receiveSize;
+  jint returnValue = HAL_ReadI2C(static_cast<HAL_I2CPort>(port), address, dataReceivedPtr, receiveSize);
+  I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_I2CJNI
+ * Method:    i2CReadB
+ * Signature: (IB[BB)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CReadB(
+    JNIEnv* env, jclass, jint port, jbyte address, jbyteArray dataReceived,
+    jbyte receiveSize) {
+  I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CRead";
+  I2CJNI_LOG(logDEBUG) << "Port = " << port;
+  I2CJNI_LOG(logDEBUG) << "Address = " << address;
+  I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << receiveSize;
+  llvm::SmallVector<uint8_t, 128> recvBuf;
+  recvBuf.resize(receiveSize);
+  jint returnValue = HAL_ReadI2C(static_cast<HAL_I2CPort>(port), address, recvBuf.data(), receiveSize);
+  env->SetByteArrayRegion(dataReceived, 0, receiveSize,
+                          reinterpret_cast<const jbyte *>(recvBuf.data()));
+  I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_I2CJNI
+ * Method:    i2CClose
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CClose(JNIEnv*, jclass, jint port) {
+  I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CClose";
+  HAL_CloseI2C(static_cast<HAL_I2CPort>(port));
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/InterruptJNI.cpp

@@ -0,0 +1,347 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+#include <atomic>
+#include <thread>
+
+#include <support/mutex.h>
+
+#include "HAL/cpp/Log.h"
+
+#include "HAL/Interrupts.h"
+#include "HALUtil.h"
+#include "edu_wpi_first_wpilibj_hal_InterruptJNI.h"
+#include "support/SafeThread.h"
+
+using namespace frc;
+
+TLogLevel interruptJNILogLevel = logERROR;
+
+#define INTERRUPTJNI_LOG(level)     \
+  if (level > interruptJNILogLevel) \
+    ;                               \
+  else                              \
+  Log().Get(level)
+
+// Thread where callbacks are actually performed.
+//
+// JNI's AttachCurrentThread() creates a Java Thread object on every
+// invocation, which is both time inefficient and causes issues with Eclipse
+// (which tries to keep a thread list up-to-date and thus gets swamped).
+//
+// Instead, this class attaches just once.  When a hardware notification
+// occurs, a condition variable wakes up this thread and this thread actually
+// makes the call into Java.
+//
+// We don't want to use a FIFO here. If the user code takes too long to
+// process, we will just ignore the redundant wakeup.
+class InterruptThreadJNI : public wpi::SafeThread {
+ public:
+  void Main();
+
+  bool m_notify = false;
+  uint32_t m_mask = 0;
+  jobject m_func = nullptr;
+  jmethodID m_mid;
+  jobject m_param = nullptr;
+};
+
+class InterruptJNI : public wpi::SafeThreadOwner<InterruptThreadJNI> {
+ public:
+  void SetFunc(JNIEnv* env, jobject func, jmethodID mid, jobject param);
+
+  void Notify(uint32_t mask) {
+    auto thr = GetThread();
+    if (!thr) return;
+    thr->m_notify = true;
+    thr->m_mask = mask;
+    thr->m_cond.notify_one();
+  }
+};
+
+void InterruptJNI::SetFunc(JNIEnv* env, jobject func, jmethodID mid,
+                           jobject param) {
+  auto thr = GetThread();
+  if (!thr) return;
+  // free global references
+  if (thr->m_func) env->DeleteGlobalRef(thr->m_func);
+  if (thr->m_param) env->DeleteGlobalRef(thr->m_param);
+  // create global references
+  thr->m_func = env->NewGlobalRef(func);
+  thr->m_param = param ? env->NewGlobalRef(param) : nullptr;
+  thr->m_mid = mid;
+}
+
+void InterruptThreadJNI::Main() {
+  JNIEnv* env;
+  JavaVMAttachArgs args;
+  args.version = JNI_VERSION_1_2;
+  args.name = const_cast<char*>("Interrupt");
+  args.group = nullptr;
+  jint rs = GetJVM()->AttachCurrentThreadAsDaemon(reinterpret_cast<void**>(&env),
+                                             &args);
+  if (rs != JNI_OK) return;
+
+  std::unique_lock<wpi::mutex> lock(m_mutex);
+  while (m_active) {
+    m_cond.wait(lock, [&] { return !m_active || m_notify; });
+    if (!m_active) break;
+    m_notify = false;
+    if (!m_func) continue;
+    jobject func = m_func;
+    jmethodID mid = m_mid;
+    uint32_t mask = m_mask;
+    jobject param = m_param;
+    lock.unlock();  // don't hold mutex during callback execution
+    env->CallVoidMethod(func, mid, static_cast<jint>(mask), param);
+    if (env->ExceptionCheck()) {
+      env->ExceptionDescribe();
+      env->ExceptionClear();
+    }
+    lock.lock();
+  }
+
+  // free global references
+  if (m_func) env->DeleteGlobalRef(m_func);
+  if (m_param) env->DeleteGlobalRef(m_param);
+
+  GetJVM()->DetachCurrentThread();
+}
+
+void interruptHandler(uint32_t mask, void* param) {
+  static_cast<InterruptJNI*>(param)->Notify(mask);
+}
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_InterruptJNI
+ * Method:    initializeInterrupts
+ * Signature: (Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeInterrupts(
+    JNIEnv* env, jclass, jboolean watcher) {
+  INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI initializeInterrupts";
+  INTERRUPTJNI_LOG(logDEBUG) << "watcher = " << (bool)watcher;
+
+  int32_t status = 0;
+  HAL_InterruptHandle interrupt = HAL_InitializeInterrupts(watcher, &status);
+
+  INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << interrupt;
+  INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
+
+  CheckStatusForceThrow(env, status);
+  return (jint)interrupt;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_InterruptJNI
+ * Method:    cleanInterrupts
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_InterruptJNI_cleanInterrupts(
+    JNIEnv* env, jclass, jint interruptHandle) {
+  INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI cleanInterrupts";
+  INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
+
+  int32_t status = 0;
+  HAL_CleanInterrupts((HAL_InterruptHandle)interruptHandle, &status);
+
+  INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
+
+  // ignore status, as an invalid handle just needs to be ignored.
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_InterruptJNI
+ * Method:    waitForInterrupt
+ * Signature: (JD)V
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterrupt(
+    JNIEnv* env, jclass, jint interruptHandle, jdouble timeout,
+    jboolean ignorePrevious) {
+  INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI waitForInterrupt";
+  INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
+
+  int32_t status = 0;
+  int32_t result = HAL_WaitForInterrupt((HAL_InterruptHandle)interruptHandle,
+                                        timeout, ignorePrevious, &status);
+
+  INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
+
+  CheckStatus(env, status);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_InterruptJNI
+ * Method:    enableInterrupts
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_InterruptJNI_enableInterrupts(
+    JNIEnv* env, jclass, jint interruptHandle) {
+  INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI enableInterrupts";
+  INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
+
+  int32_t status = 0;
+  HAL_EnableInterrupts((HAL_InterruptHandle)interruptHandle, &status);
+
+  INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
+
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_InterruptJNI
+ * Method:    disableInterrupts
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterrupts(
+    JNIEnv* env, jclass, jint interruptHandle) {
+  INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI disableInterrupts";
+  INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
+
+  int32_t status = 0;
+  HAL_DisableInterrupts((HAL_InterruptHandle)interruptHandle, &status);
+
+  INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
+
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_InterruptJNI
+ * Method:    readInterruptRisingTimestamp
+ * Signature: (J)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterruptRisingTimestamp(
+    JNIEnv* env, jclass, jint interruptHandle) {
+  INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readInterruptRisingTimestamp";
+  INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
+
+  int32_t status = 0;
+  jdouble timeStamp = HAL_ReadInterruptRisingTimestamp((HAL_InterruptHandle)interruptHandle, &status);
+
+  INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+  return timeStamp;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_InterruptJNI
+ * Method:    readInterruptFallingTimestamp
+ * Signature: (J)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterruptFallingTimestamp(
+    JNIEnv* env, jclass, jint interruptHandle) {
+  INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readInterruptFallingTimestamp";
+  INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
+
+  int32_t status = 0;
+  jdouble timeStamp = HAL_ReadInterruptFallingTimestamp((HAL_InterruptHandle)interruptHandle, &status);
+
+  INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+  return timeStamp;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_InterruptJNI
+ * Method:    requestInterrupts
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_InterruptJNI_requestInterrupts(
+    JNIEnv* env, jclass, jint interruptHandle, jint digitalSourceHandle,
+    jint analogTriggerType) {
+  INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI requestInterrupts";
+  INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
+  INTERRUPTJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle;
+  INTERRUPTJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType;
+
+  int32_t status = 0;
+  HAL_RequestInterrupts((HAL_InterruptHandle)interruptHandle, (HAL_Handle)digitalSourceHandle,
+                    (HAL_AnalogTriggerType)analogTriggerType, &status);
+
+  INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_InterruptJNI
+ * Method:    attachInterruptHandler
+ * Signature:
+ * (JLedu/wpi/first/wpilibj/hal/InterruptJNI/InterruptHandlerFunction;Ljava/nio/ByteBuffer;)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler(
+    JNIEnv* env, jclass, jint interruptHandle, jobject handler,
+    jobject param) {
+  INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI attachInterruptHandler";
+  INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
+
+  jclass cls = env->GetObjectClass(handler);
+  INTERRUPTJNI_LOG(logDEBUG) << "class = " << cls;
+  if (cls == 0) {
+    INTERRUPTJNI_LOG(logERROR) << "Error getting java class";
+    assert(false);
+    return;
+  }
+  jmethodID mid = env->GetMethodID(cls, "apply", "(ILjava/lang/Object;)V");
+  INTERRUPTJNI_LOG(logDEBUG) << "method = " << mid;
+  if (mid == 0) {
+    INTERRUPTJNI_LOG(logERROR) << "Error getting java method ID";
+    assert(false);
+    return;
+  }
+
+  InterruptJNI* intr = new InterruptJNI;
+  intr->Start();
+  intr->SetFunc(env, handler, mid, param);
+
+  INTERRUPTJNI_LOG(logDEBUG) << "InterruptThreadJNI Ptr = " << intr;
+
+  int32_t status = 0;
+  HAL_AttachInterruptHandler((HAL_InterruptHandle)interruptHandle, interruptHandler, intr,
+                         &status);
+
+  INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_InterruptJNI
+ * Method:    setInterruptUpSourceEdge
+ * Signature: (JZZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_InterruptJNI_setInterruptUpSourceEdge(
+    JNIEnv* env, jclass, jint interruptHandle, jboolean risingEdge,
+    jboolean fallingEdge) {
+  INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI setInterruptUpSourceEdge";
+  INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
+  INTERRUPTJNI_LOG(logDEBUG) << "Rising Edge = " << (bool)risingEdge;
+  INTERRUPTJNI_LOG(logDEBUG) << "Falling Edge = " << (bool)fallingEdge;
+
+  int32_t status = 0;
+  HAL_SetInterruptUpSourceEdge((HAL_InterruptHandle)interruptHandle, risingEdge, fallingEdge,
+                           &status);
+
+  INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/NotifierJNI.cpp

@@ -0,0 +1,147 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/Notifier.h"
+#include <assert.h>
+#include <jni.h>
+#include <stdio.h>
+#include "HALUtil.h"
+#include "HAL/cpp/Log.h"
+#include "edu_wpi_first_wpilibj_hal_NotifierJNI.h"
+
+using namespace frc;
+
+// set the logging level
+TLogLevel notifierJNILogLevel = logWARNING;
+
+#define NOTIFIERJNI_LOG(level)     \
+  if (level > notifierJNILogLevel) \
+    ;                              \
+  else                             \
+  Log().Get(level)
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_NotifierJNI
+ * Method:    initializeNotifier
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_NotifierJNI_initializeNotifier(
+    JNIEnv *env, jclass) {
+  NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI initializeNotifier";
+
+  int32_t status = 0;
+  HAL_NotifierHandle notifierHandle = HAL_InitializeNotifier(&status);
+
+  NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
+  NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
+
+  if (notifierHandle <= 0 || !CheckStatusForceThrow(env, status)) {
+    return 0; // something went wrong in HAL
+  }
+
+  return (jint)notifierHandle;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_NotifierJNI
+ * Method:    stopNotifier
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_NotifierJNI_stopNotifier(
+    JNIEnv *env, jclass cls, jint notifierHandle) {
+  NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI stopNotifier";
+
+  NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
+
+  int32_t status = 0;
+  HAL_StopNotifier((HAL_NotifierHandle)notifierHandle, &status);
+  NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_NotifierJNI
+ * Method:    cleanNotifier
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_NotifierJNI_cleanNotifier(
+    JNIEnv *env, jclass, jint notifierHandle) {
+  NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI cleanNotifier";
+
+  NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
+
+  int32_t status = 0;
+  HAL_CleanNotifier((HAL_NotifierHandle)notifierHandle, &status);
+  NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_NotifierJNI
+ * Method:    updateNotifierAlarm
+ * Signature: (IJ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_NotifierJNI_updateNotifierAlarm(
+    JNIEnv *env, jclass cls, jint notifierHandle, jlong triggerTime) {
+  NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI updateNotifierAlarm";
+
+  NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
+
+  NOTIFIERJNI_LOG(logDEBUG) << "triggerTime = " << triggerTime;
+
+  int32_t status = 0;
+  HAL_UpdateNotifierAlarm((HAL_NotifierHandle)notifierHandle, (uint64_t)triggerTime, &status);
+  NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_NotifierJNI
+ * Method:    cancelNotifierAlarm
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_NotifierJNI_cancelNotifierAlarm(
+    JNIEnv *env, jclass cls, jint notifierHandle) {
+  NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI cancelNotifierAlarm";
+
+  NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
+
+  int32_t status = 0;
+  HAL_CancelNotifierAlarm((HAL_NotifierHandle)notifierHandle, &status);
+  NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_NotifierJNI
+ * Method:    waitForNotifierAlarm
+ * Signature: (I)J
+ */
+JNIEXPORT jlong JNICALL
+Java_edu_wpi_first_wpilibj_hal_NotifierJNI_waitForNotifierAlarm(
+    JNIEnv *env, jclass cls, jint notifierHandle) {
+  NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI waitForNotifierAlarm";
+
+  NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
+
+  int32_t status = 0;
+  uint64_t time =
+      HAL_WaitForNotifierAlarm((HAL_NotifierHandle)notifierHandle, &status);
+  NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
+  NOTIFIERJNI_LOG(logDEBUG) << "Time = " << time;
+  CheckStatus(env, status);
+
+  return (jlong)time;
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/OSSerialPortJNI.cpp

@@ -0,0 +1,322 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+#include "HAL/cpp/Log.h"
+
+#include "edu_wpi_first_wpilibj_hal_OSSerialPortJNI.h"
+
+#include "HAL/OSSerialPort.h"
+#include "HALUtil.h"
+#include "support/jni_util.h"
+
+using namespace frc;
+using namespace wpi::java;
+
+// set the logging level
+TLogLevel osserialJNILogLevel = logWARNING;
+
+#define SERIALJNI_LOG(level)       \
+  if (level > osserialJNILogLevel) \
+    ;                              \
+  else                             \
+  Log().Get(level)
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_OSSerialPortJNI
+ * Method:    serialInitializePort
+ * Signature: (B)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialInitializePort(
+    JNIEnv* env, jclass, jbyte port) {
+  SERIALJNI_LOG(logDEBUG) << "Calling Serial Initialize";
+  SERIALJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+  int32_t status = 0;
+  HAL_InitializeOSSerialPort(static_cast<HAL_SerialPort>(port), &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatusForceThrow(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_OSSerialPortJNI
+ * Method:    serialSetBaudRate
+ * Signature: (BI)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetBaudRate(
+    JNIEnv* env, jclass, jbyte port, jint rate) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Baud Rate";
+  SERIALJNI_LOG(logDEBUG) << "Baud: " << rate;
+  int32_t status = 0;
+  HAL_SetOSSerialBaudRate(static_cast<HAL_SerialPort>(port), rate, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_OSSerialPortJNI
+ * Method:    serialSetDataBits
+ * Signature: (BB)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetDataBits(
+    JNIEnv* env, jclass, jbyte port, jbyte bits) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Data Bits";
+  SERIALJNI_LOG(logDEBUG) << "Data Bits: " << bits;
+  int32_t status = 0;
+  HAL_SetOSSerialDataBits(static_cast<HAL_SerialPort>(port), bits, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_OSSerialPortJNI
+ * Method:    serialSetParity
+ * Signature: (BB)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetParity(
+    JNIEnv* env, jclass, jbyte port, jbyte parity) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Parity";
+  SERIALJNI_LOG(logDEBUG) << "Parity: " << parity;
+  int32_t status = 0;
+  HAL_SetOSSerialParity(static_cast<HAL_SerialPort>(port), parity, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_OSSerialPortJNI
+ * Method:    serialSetStopBits
+ * Signature: (BB)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetStopBits(
+    JNIEnv* env, jclass, jbyte port, jbyte bits) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Stop Bits";
+  SERIALJNI_LOG(logDEBUG) << "Stop Bits: " << bits;
+  int32_t status = 0;
+  HAL_SetOSSerialStopBits(static_cast<HAL_SerialPort>(port), bits, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_OSSerialPortJNI
+ * Method:    serialSetWriteMode
+ * Signature: (BB)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetWriteMode(
+    JNIEnv* env, jclass, jbyte port, jbyte mode) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Mode";
+  SERIALJNI_LOG(logDEBUG) << "Write mode: " << mode;
+  int32_t status = 0;
+  HAL_SetOSSerialWriteMode(static_cast<HAL_SerialPort>(port), mode, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_OSSerialPortJNI
+ * Method:    serialSetFlowControl
+ * Signature: (BB)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetFlowControl(
+    JNIEnv* env, jclass, jbyte port, jbyte flow) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Flow Control";
+  SERIALJNI_LOG(logDEBUG) << "Flow Control: " << flow;
+  int32_t status = 0;
+  HAL_SetOSSerialFlowControl(static_cast<HAL_SerialPort>(port), flow, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_OSSerialPortJNI
+ * Method:    serialSetTimeout
+ * Signature: (BD)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetTimeout(
+    JNIEnv* env, jclass, jbyte port, jdouble timeout) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Timeout";
+  SERIALJNI_LOG(logDEBUG) << "Timeout: " << timeout;
+  int32_t status = 0;
+  HAL_SetOSSerialTimeout(static_cast<HAL_SerialPort>(port), timeout, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_OSSerialPortJNI
+ * Method:    serialEnableTermination
+ * Signature: (BC)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialEnableTermination(
+    JNIEnv* env, jclass, jbyte port, jchar terminator) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Enable Termination";
+  SERIALJNI_LOG(logDEBUG) << "Terminator: " << terminator;
+  int32_t status = 0;
+  HAL_EnableOSSerialTermination(static_cast<HAL_SerialPort>(port), terminator, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_OSSerialPortJNI
+ * Method:    serialDisableTermination
+ * Signature: (B)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialDisableTermination(
+    JNIEnv* env, jclass, jbyte port) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Disable termination";
+  int32_t status = 0;
+  HAL_DisableOSSerialTermination(static_cast<HAL_SerialPort>(port), &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_OSSerialPortJNI
+ * Method:    serialSetReadBufferSize
+ * Signature: (BI)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetReadBufferSize(
+    JNIEnv* env, jclass, jbyte port, jint size) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Read Buffer Size";
+  SERIALJNI_LOG(logDEBUG) << "Size: " << size;
+  int32_t status = 0;
+  HAL_SetOSSerialReadBufferSize(static_cast<HAL_SerialPort>(port), size, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_OSSerialPortJNI
+ * Method:    serialSetWriteBufferSize
+ * Signature: (BI)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetWriteBufferSize(
+    JNIEnv* env, jclass, jbyte port, jint size) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Buffer Size";
+  SERIALJNI_LOG(logDEBUG) << "Size: " << size;
+  int32_t status = 0;
+  HAL_SetOSSerialWriteBufferSize(static_cast<HAL_SerialPort>(port), size, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_OSSerialPortJNI
+ * Method:    serialGetBytesReceived
+ * Signature: (B)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialGetBytesReceived(
+    JNIEnv* env, jclass, jbyte port) {
+  SERIALJNI_LOG(logDEBUG) << "Serial Get Bytes Received";
+  int32_t status = 0;
+  jint retVal = HAL_GetOSSerialBytesReceived(static_cast<HAL_SerialPort>(port), &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_OSSerialPortJNI
+ * Method:    serialRead
+ * Signature: (B[BI)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialRead(
+    JNIEnv* env, jclass, jbyte port, jbyteArray dataReceived, jint size) {
+  SERIALJNI_LOG(logDEBUG) << "Serial Read";
+  llvm::SmallVector<char, 128> recvBuf;
+  recvBuf.resize(size);
+  int32_t status = 0;
+  jint retVal = HAL_ReadOSSerial(static_cast<HAL_SerialPort>(port), recvBuf.data(), 
+                                 size, &status);
+  env->SetByteArrayRegion(dataReceived, 0, size,
+                          reinterpret_cast<const jbyte *>(recvBuf.data()));
+  SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_OSSerialPortJNI
+ * Method:    serialWrite
+ * Signature: (B[BI)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialWrite(
+    JNIEnv* env, jclass, jbyte port, jbyteArray dataToSend, jint size) {
+  SERIALJNI_LOG(logDEBUG) << "Serial Write";
+  int32_t status = 0;
+  jint retVal =
+      HAL_WriteOSSerial(static_cast<HAL_SerialPort>(port),
+                        reinterpret_cast<const char *>(
+                            JByteArrayRef(env, dataToSend).array().data()),
+                        size, &status);
+  SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_OSSerialPortJNI
+ * Method:    serialFlush
+ * Signature: (B)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialFlush(
+    JNIEnv* env, jclass, jbyte port) {
+  SERIALJNI_LOG(logDEBUG) << "Serial Flush";
+  int32_t status = 0;
+  HAL_FlushOSSerial(static_cast<HAL_SerialPort>(port), &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_OSSerialPortJNI
+ * Method:    serialClear
+ * Signature: (B)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialClear(
+    JNIEnv* env, jclass, jbyte port) {
+  SERIALJNI_LOG(logDEBUG) << "Serial Clear";
+  int32_t status = 0;
+  HAL_ClearOSSerial(static_cast<HAL_SerialPort>(port), &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_OSSerialPortJNI
+ * Method:    serialClose
+ * Signature: (B)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialClose(
+    JNIEnv* env, jclass, jbyte port) {
+  SERIALJNI_LOG(logDEBUG) << "Serial Close";
+  int32_t status = 0;
+  HAL_CloseOSSerial(static_cast<HAL_SerialPort>(port), &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/PDPJNI.cpp

@@ -0,0 +1,158 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/PDP.h"
+#include "HAL/Ports.h"
+#include "HALUtil.h"
+#include "edu_wpi_first_wpilibj_hal_PDPJNI.h"
+
+using namespace frc;
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    getPDPTemperature
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_initializePDP(
+    JNIEnv *env, jclass, jint module) {
+  int32_t status = 0;
+  HAL_InitializePDP(module, &status);
+  CheckStatusRange(env, status, 0, HAL_GetNumPDPModules(), module);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    checkPDPChannel
+ * Signature: (I)Z;
+*/
+JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_checkPDPChannel(
+    JNIEnv *env, jclass, jint channel) {
+  return HAL_CheckPDPChannel(channel);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    checkPDPModule
+ * Signature: (I)Z;
+*/
+JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_checkPDPModule(
+    JNIEnv *env, jclass, jint module) {
+  return HAL_CheckPDPModule(module);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    getPDPTemperature
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTemperature(
+    JNIEnv *env, jclass, jint module) {
+  int32_t status = 0;
+  double temperature = HAL_GetPDPTemperature(module, &status);
+  CheckStatus(env, status, false);
+  return temperature;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    getPDPVoltage
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPVoltage(
+    JNIEnv *env, jclass, jint module) {
+  int32_t status = 0;
+  double voltage = HAL_GetPDPVoltage(module, &status);
+  CheckStatus(env, status, false);
+  return voltage;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    getPDPChannelCurrent
+ * Signature: (BI)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPChannelCurrent(
+    JNIEnv *env, jclass, jbyte channel, jint module) {
+  int32_t status = 0;
+  double current = HAL_GetPDPChannelCurrent(module, channel, &status);
+  CheckStatus(env, status, false);
+  return current;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    getPDPTotalCurrent
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalCurrent(
+    JNIEnv *env, jclass, jint module) {
+  int32_t status = 0;
+  double current = HAL_GetPDPTotalCurrent(module, &status);
+  CheckStatus(env, status, false);
+  return current;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    getPDPTotalPower
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalPower(
+    JNIEnv *env, jclass, jint module) {
+  int32_t status = 0;
+  double power = HAL_GetPDPTotalPower(module, &status);
+  CheckStatus(env, status, false);
+  return power;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    resetPDPTotalEnergy
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTotalEnergy(
+    JNIEnv *env, jclass, jint module) {
+  int32_t status = 0;
+  double energy = HAL_GetPDPTotalEnergy(module, &status);
+  CheckStatus(env, status, false);
+  return energy;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    resetPDPTotalEnergy
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_PDPJNI_resetPDPTotalEnergy(
+    JNIEnv *env, jclass, jint module) {
+  int32_t status = 0;
+  HAL_ResetPDPTotalEnergy(module, &status);
+  CheckStatus(env, status, false);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    clearStickyFaults
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_PDPJNI_clearPDPStickyFaults(
+    JNIEnv *env, jclass, jint module) {
+  int32_t status = 0;
+  HAL_ClearPDPStickyFaults(module, &status);
+  CheckStatus(env, status, false);
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/PWMJNI.cpp

@@ -0,0 +1,300 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+#include "HAL/cpp/Log.h"
+
+#include "edu_wpi_first_wpilibj_hal_PWMJNI.h"
+
+#include "HAL/DIO.h"
+#include "HAL/PWM.h"
+#include "HAL/Ports.h"
+#include "HALUtil.h"
+#include "HAL/handles/HandlesInternal.h"
+
+using namespace frc;
+
+// set the logging level
+TLogLevel pwmJNILogLevel = logWARNING;
+
+#define PWMJNI_LOG(level)     \
+  if (level > pwmJNILogLevel) \
+    ;                         \
+  else                        \
+  Log().Get(level)
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
+ * Method:    initializePWMPort
+ * Signature: (I)I;
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PWMJNI_initializePWMPort(
+    JNIEnv *env, jclass, jint id) {
+  PWMJNI_LOG(logDEBUG) << "Calling PWMJNI initializePWMPort";
+  PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
+  int32_t status = 0;
+  auto pwm = HAL_InitializePWMPort((HAL_PortHandle)id, &status);
+  PWMJNI_LOG(logDEBUG) << "Status = " << status;
+  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << pwm;
+  CheckStatusRange(env, status, 0, HAL_GetNumPWMChannels(),
+                   hal::getPortHandleChannel((HAL_PortHandle)id));
+  return (jint)pwm;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
+ * Method:    checkPWMChannel
+ * Signature: (I)Z;
+*/
+JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_checkPWMChannel(
+    JNIEnv *env, jclass, jint channel) {
+  PWMJNI_LOG(logDEBUG) << "Calling PWMJNI checkPWMChannel";
+  PWMJNI_LOG(logDEBUG) << "Channel = " << channel;
+  return HAL_CheckPWMChannel(channel);
+}
+
+/*
+* Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+* Method:    freeDIOPort
+* Signature: (I)V;
+*/
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWMPort(
+    JNIEnv *env, jclass, jint id) {
+  PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWMPort";
+  PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
+  int32_t status = 0;
+  HAL_FreePWMPort((HAL_DigitalHandle)id, &status);
+  CheckStatus(env, status);
+}
+
+/*
+* Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+* Method:    setPWMConfigRaw
+* Signature: (IIIIII)V;
+*/
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMConfigRaw(
+    JNIEnv *env, jclass, jint id, jint maxPwm, jint deadbandMaxPwm, 
+    jint centerPwm, jint deadbandMinPwm, jint minPwm) {
+  PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMConfigRaw";
+  PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
+  int32_t status = 0;
+  HAL_SetPWMConfigRaw((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm, 
+               deadbandMinPwm, minPwm, &status);
+  CheckStatus(env, status);
+}
+
+/*
+* Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+* Method:    setPWMConfig
+* Signature: (IDDDDD)V;
+*/
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMConfig(
+    JNIEnv *env, jclass, jint id, jdouble maxPwm, jdouble deadbandMaxPwm, 
+    jdouble centerPwm, jdouble deadbandMinPwm, jdouble minPwm) {
+  PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMConfig";
+  PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
+  int32_t status = 0;
+  HAL_SetPWMConfig((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm, 
+               deadbandMinPwm, minPwm, &status);
+  CheckStatus(env, status);
+}
+
+/*
+* Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+* Method:    getPWMConfigRaw
+* Signature: (I)Ledu/wpi/first/wpilibj/PWMConfigDataResult;
+*/
+JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMConfigRaw(
+    JNIEnv *env, jclass, jint id) {
+  PWMJNI_LOG(logDEBUG) << "Calling PWMJNI getPWMConfigRaw";
+  PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
+  int32_t status = 0;
+  int32_t maxPwm = 0;
+  int32_t deadbandMaxPwm = 0;
+  int32_t centerPwm = 0;
+  int32_t deadbandMinPwm = 0;
+  int32_t minPwm = 0;
+  HAL_GetPWMConfigRaw((HAL_DigitalHandle)id, &maxPwm, &deadbandMaxPwm, &centerPwm, 
+               &deadbandMinPwm, &minPwm, &status);
+  CheckStatus(env, status);
+  return CreatePWMConfigDataResult(env, maxPwm, deadbandMaxPwm, centerPwm,
+                                   deadbandMinPwm, minPwm);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
+ * Method:    setPWMEliminateDeadband
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMEliminateDeadband(
+    JNIEnv* env, jclass, jint id, jboolean value) {
+  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
+  int32_t status = 0;
+  HAL_SetPWMEliminateDeadband((HAL_DigitalHandle)id, value, &status);
+  PWMJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
+ * Method:    getPWMEliminateDeadband
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMEliminateDeadband(
+    JNIEnv* env, jclass, jint id) {
+  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
+  int32_t status = 0;
+  auto val = HAL_GetPWMEliminateDeadband((HAL_DigitalHandle)id, &status);
+  PWMJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+  return (jboolean)val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
+ * Method:    setPWMRaw
+ * Signature: (IS)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRaw(
+    JNIEnv* env, jclass, jint id, jshort value) {
+  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
+  PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
+  int32_t status = 0;
+  HAL_SetPWMRaw((HAL_DigitalHandle)id, value, &status);
+  PWMJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
+ * Method:    setPWMSpeed
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMSpeed(
+    JNIEnv* env, jclass, jint id, jdouble value) {
+  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
+  PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
+  int32_t status = 0;
+  HAL_SetPWMSpeed((HAL_DigitalHandle)id, value, &status);
+  PWMJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
+ * Method:    setPWMPosition
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPosition(
+    JNIEnv* env, jclass, jint id, jdouble value) {
+  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
+  PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
+  int32_t status = 0;
+  HAL_SetPWMPosition((HAL_DigitalHandle)id, value, &status);
+  PWMJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
+ * Method:    getPWMRaw
+ * Signature: (I)S
+ */
+JNIEXPORT jshort JNICALL
+Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMRaw(
+    JNIEnv* env, jclass, jint id) {
+  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
+  int32_t status = 0;
+  jshort returnValue = HAL_GetPWMRaw((HAL_DigitalHandle)id, &status);
+  PWMJNI_LOG(logDEBUG) << "Status = " << status;
+  PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
+ * Method:    getPWMSpeed
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMSpeed(
+    JNIEnv* env, jclass, jint id) {
+  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
+  int32_t status = 0;
+  jdouble returnValue = HAL_GetPWMSpeed((HAL_DigitalHandle)id, &status);
+  PWMJNI_LOG(logDEBUG) << "Status = " << status;
+  PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
+ * Method:    getPWMPosition
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMPosition(
+    JNIEnv* env, jclass, jint id) {
+  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
+  int32_t status = 0;
+  jdouble returnValue = HAL_GetPWMPosition((HAL_DigitalHandle)id, &status);
+  PWMJNI_LOG(logDEBUG) << "Status = " << status;
+  PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
+ * Method:    setPWMDisabled
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDisabled(
+    JNIEnv* env, jclass, jint id) {
+  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
+  int32_t status = 0;
+  HAL_SetPWMDisabled((HAL_DigitalHandle)id, &status);
+  PWMJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
+ * Method:    latchPWMZero
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_latchPWMZero(
+    JNIEnv* env, jclass, jint id) {
+  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
+  int32_t status = 0;
+  HAL_LatchPWMZero((HAL_DigitalHandle)id, &status);
+  PWMJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
+ * Method:    setPWMPeriodScale
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPeriodScale(
+    JNIEnv* env, jclass, jint id, jint value) {
+  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
+  PWMJNI_LOG(logDEBUG) << "PeriodScale Value = " << value;
+  int32_t status = 0;
+  HAL_SetPWMPeriodScale((HAL_DigitalHandle)id, value, &status);
+  PWMJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/PortsJNI.cpp

@@ -0,0 +1,297 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+#include "HAL/cpp/Log.h"
+
+#include "edu_wpi_first_wpilibj_hal_PortsJNI.h"
+
+#include "HAL/Ports.h"
+#include "HALUtil.h"
+
+using namespace frc;
+
+// set the logging level
+TLogLevel portsJNILogLevel = logWARNING;
+
+#define PORTSJNI_LOG(level)     \
+  if (level > portsJNILogLevel) \
+    ;                         \
+  else                        \
+  Log().Get(level)
+
+extern "C" {
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumAccumulators
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAccumulators(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAccumulators";
+  jint value = HAL_GetNumAccumulators();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumAnalogTriggers
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAnalogTriggers(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAnalogTriggers";
+  jint value = HAL_GetNumAnalogTriggers();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumAnalogInputs
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAnalogInputs(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAnalogInputs";
+  jint value = HAL_GetNumAnalogInputs();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumAnalogOutputs
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumAnalogOutputs(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAnalogOutputs";
+  jint value = HAL_GetNumAnalogOutputs();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumCounters
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumCounters(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumCounters";
+  jint value = HAL_GetNumCounters();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumDigitalHeaders
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumDigitalHeaders(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumDigitalHeaders";
+  jint value = HAL_GetNumDigitalHeaders();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumPWMHeaders
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPWMHeaders(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPWMHeaders";
+  jint value = HAL_GetNumPWMHeaders();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumDigitalChannels
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumDigitalChannels(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumDigitalChannels";
+  jint value = HAL_GetNumDigitalChannels();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumPWMChannels
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPWMChannels(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPWMChannels";
+  jint value = HAL_GetNumPWMChannels();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumDigitalPWMOutputs
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumDigitalPWMOutputs(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumDigitalPWMOutputs";
+  jint value = HAL_GetNumDigitalPWMOutputs();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumEncoders
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumEncoders(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumEncoders";
+  jint value = HAL_GetNumEncoders();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumInterrupts
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumInterrupts(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumInterrupts";
+  jint value = HAL_GetNumInterrupts();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumRelayChannels
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumRelayChannels(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumRelayChannels";
+  jint value = HAL_GetNumRelayChannels();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumRelayHeaders
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumRelayHeaders(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumRelayHeaders";
+  jint value = HAL_GetNumRelayHeaders();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumPCMModules
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPCMModules(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPCMModules";
+  jint value = HAL_GetNumPCMModules();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumSolenoidChannels
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumSolenoidChannels(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumSolenoidChannels";
+  jint value = HAL_GetNumSolenoidChannels();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumPDPModules
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPDPModules(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPDPModules";
+  jint value = HAL_GetNumPDPModules();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PortsJNI
+ * Method:    getNumPDPChannels
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PortsJNI_getNumPDPChannels(
+    JNIEnv *env, jclass) {
+  PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPDPChannels";
+  jint value = HAL_GetNumPDPChannels();
+  PORTSJNI_LOG(logDEBUG) << "Value = " << value;
+  return value;
+}
+}

hal/src/main/native/cpp/jni/PowerJNI.cpp

@@ -0,0 +1,202 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/Power.h"
+#include <jni.h>
+#include "HALUtil.h"
+#include "edu_wpi_first_wpilibj_hal_PowerJNI.h"
+
+using namespace frc;
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getVinVoltage
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_PowerJNI_getVinVoltage(JNIEnv* env, jclass) {
+  int32_t status = 0;
+  double val = HAL_GetVinVoltage(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getVinCurrent
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_PowerJNI_getVinCurrent(JNIEnv* env, jclass) {
+  int32_t status = 0;
+  double val = HAL_GetVinCurrent(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getUserVoltage6V
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage6V(JNIEnv* env, jclass) {
+  int32_t status = 0;
+  double val = HAL_GetUserVoltage6V(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getUserCurrent6V
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent6V(JNIEnv* env, jclass) {
+  int32_t status = 0;
+  double val = HAL_GetUserCurrent6V(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getUserActive6V
+ * Signature: ()Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserActive6V(JNIEnv* env, jclass) {
+  int32_t status = 0;
+  bool val = HAL_GetUserActive6V(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getUserCurrentFaults6V
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults6V(
+    JNIEnv* env, jclass) {
+  int32_t status = 0;
+  int32_t val = HAL_GetUserCurrentFaults6V(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getUserVoltage5V
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage5V(JNIEnv* env, jclass) {
+  int32_t status = 0;
+  double val = HAL_GetUserVoltage5V(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getUserCurrent5V
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent5V(JNIEnv* env, jclass) {
+  int32_t status = 0;
+  double val = HAL_GetUserCurrent5V(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getUserActive5V
+ * Signature: ()Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserActive5V(JNIEnv* env, jclass) {
+  int32_t status = 0;
+  bool val = HAL_GetUserActive5V(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getUserCurrentFaults5V
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults5V(
+    JNIEnv* env, jclass) {
+  int32_t status = 0;
+  int32_t val = HAL_GetUserCurrentFaults5V(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getUserVoltage3V3
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage3V3(JNIEnv* env, jclass) {
+  int32_t status = 0;
+  double val = HAL_GetUserVoltage3V3(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getUserCurrent3V3
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent3V3(JNIEnv* env, jclass) {
+  int32_t status = 0;
+  double val = HAL_GetUserCurrent3V3(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getUserActive3V3
+ * Signature: ()Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserActive3V3(JNIEnv* env, jclass) {
+  int32_t status = 0;
+  bool val = HAL_GetUserActive3V3(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getUserCurrentFaults3V3
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults3V3(
+    JNIEnv* env, jclass) {
+  int32_t status = 0;
+  int32_t val = HAL_GetUserCurrentFaults3V3(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/RelayJNI.cpp

@@ -0,0 +1,109 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+#include "HAL/cpp/Log.h"
+
+#include "edu_wpi_first_wpilibj_hal_RelayJNI.h"
+
+#include "HAL/Relay.h"
+#include "HAL/Ports.h"
+#include "HALUtil.h"
+#include "HAL/handles/HandlesInternal.h"
+
+using namespace frc;
+
+// set the logging level
+TLogLevel relayJNILogLevel = logWARNING;
+
+#define RELAYJNI_LOG(level)     \
+  if (level > relayJNILogLevel) \
+    ;                           \
+  else                          \
+  Log().Get(level)
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_RelayJNI
+ * Method:    initializeRelayPort
+ * Signature: (IZ)I;
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_initializeRelayPort(
+    JNIEnv* env, jclass, jint id, jboolean fwd) {
+  RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI initializeRelayPort";
+  RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
+  RELAYJNI_LOG(logDEBUG) << "Forward = " << (jint)fwd;
+  int32_t status = 0;
+  HAL_RelayHandle handle = HAL_InitializeRelayPort((HAL_PortHandle)id, (uint8_t) fwd, &status);
+  RELAYJNI_LOG(logDEBUG) << "Status = " << status;
+  RELAYJNI_LOG(logDEBUG) << "Relay Handle = " << handle;
+  CheckStatusRange(env, status, 0, HAL_GetNumRelayChannels(),
+                   hal::getPortHandleChannel((HAL_PortHandle)id));
+  return (jint) handle;
+}
+
+/*
+* Class:     edu_wpi_first_wpilibj_hal_RelayJNI
+* Method:    freeRelayPort
+* Signature: (I)V;
+*/
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_freeRelayPort(
+    JNIEnv *env, jclass, jint id) {
+  RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI freeRelayPort";
+  RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_RelayHandle)id;
+  HAL_FreeRelayPort((HAL_RelayHandle)id);
+}
+
+/*
+* Class:     edu_wpi_first_wpilibj_hal_RelayJNI
+* Method:    checkRelayChannel
+* Signature: (I)Z;
+*/
+JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_checkRelayChannel(
+    JNIEnv *env, jclass, jint channel) {
+  RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI checkRelayChannel";
+  RELAYJNI_LOG(logDEBUG) << "Channel = " << channel;
+  return (jboolean)HAL_CheckRelayChannel((uint8_t) channel);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_RelayJNI
+ * Method:    setRelay
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_setRelay(
+    JNIEnv* env, jclass, jint id, jboolean value) {
+  RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI setRelay";
+  RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_RelayHandle)id;
+  RELAYJNI_LOG(logDEBUG) << "Flag = " << (jint)value;
+  int32_t status = 0;
+  HAL_SetRelay((HAL_RelayHandle)id, value, &status);
+  RELAYJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_RelayJNI
+ * Method:    getRelay
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_RelayJNI_getRelay(
+    JNIEnv* env, jclass, jint id) {
+  RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI getRelay";
+  RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_RelayHandle)id;
+  int32_t status = 0;
+  jboolean returnValue = HAL_GetRelay((HAL_RelayHandle)id, &status);
+  RELAYJNI_LOG(logDEBUG) << "Status = " << status;
+  RELAYJNI_LOG(logDEBUG) << "getRelayResult = " << (jint)returnValue;
+  CheckStatus(env, status);
+  return returnValue;
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/SPIJNI.cpp

@@ -0,0 +1,438 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+#include "HAL/cpp/Log.h"
+
+#include "edu_wpi_first_wpilibj_hal_SPIJNI.h"
+
+#include "HAL/SPI.h"
+#include "HALUtil.h"
+#include "support/jni_util.h"
+
+using namespace frc;
+using namespace wpi::java;
+
+// set the logging level
+TLogLevel spiJNILogLevel = logWARNING;
+
+#define SPIJNI_LOG(level)     \
+  if (level > spiJNILogLevel) \
+    ;                         \
+  else                        \
+  Log().Get(level)
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiInitialize
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitialize(
+    JNIEnv *env, jclass, jint port) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitialize";
+  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+  int32_t status = 0;
+  HAL_InitializeSPI(static_cast<HAL_SPIPort>(port), &status);
+  SPIJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatusForceThrow(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiTransaction
+ * Signature: (ILjava/nio/ByteBuffer;Ljava/nio/ByteBuffer;B)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransaction(
+    JNIEnv *env, jclass, jint port, jobject dataToSend, jobject dataReceived,
+    jbyte size) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiTransaction";
+  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+  uint8_t *dataToSendPtr = nullptr;
+  if (dataToSend != 0) {
+    dataToSendPtr = (uint8_t *)env->GetDirectBufferAddress(dataToSend);
+  }
+  uint8_t *dataReceivedPtr =
+      (uint8_t *)env->GetDirectBufferAddress(dataReceived);
+  SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
+  SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
+  SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
+  jint retVal = HAL_TransactionSPI(static_cast<HAL_SPIPort>(port), dataToSendPtr, dataReceivedPtr, size);
+  SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiTransactionB
+ * Signature: (I[B[BB)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransactionB(
+    JNIEnv *env, jclass, jint port, jbyteArray dataToSend, jbyteArray dataReceived,
+    jbyte size) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiTransactionB";
+  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+  SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
+  llvm::SmallVector<uint8_t, 128> recvBuf;
+  recvBuf.resize(size);
+  jint retVal =
+      HAL_TransactionSPI(static_cast<HAL_SPIPort>(port),
+                         reinterpret_cast<const uint8_t *>(
+                             JByteArrayRef(env, dataToSend).array().data()),
+                         recvBuf.data(), size);
+  env->SetByteArrayRegion(dataReceived, 0, size,
+                          reinterpret_cast<const jbyte *>(recvBuf.data()));
+  SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiWrite
+ * Signature: (ILjava/nio/ByteBuffer;B)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWrite(
+    JNIEnv *env, jclass, jint port, jobject dataToSend, jbyte size) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiWrite";
+  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+  uint8_t *dataToSendPtr = nullptr;
+  if (dataToSend != 0) {
+    dataToSendPtr = (uint8_t *)env->GetDirectBufferAddress(dataToSend);
+  }
+  SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
+  SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
+  jint retVal = HAL_WriteSPI(static_cast<HAL_SPIPort>(port), dataToSendPtr, size);
+  SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiWriteB
+ * Signature: (I[BB)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWriteB(
+    JNIEnv *env, jclass, jint port, jbyteArray dataToSend, jbyte size) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiWriteB";
+  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+  SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
+  jint retVal = HAL_WriteSPI(static_cast<HAL_SPIPort>(port),
+                             reinterpret_cast<const uint8_t *>(
+                                 JByteArrayRef(env, dataToSend).array().data()),
+                             size);
+  SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiRead
+ * Signature: (IZLjava/nio/ByteBuffer;B)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiRead(
+    JNIEnv *env, jclass, jint port, jboolean initiate, jobject dataReceived, jbyte size) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiRead";
+  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+  SPIJNI_LOG(logDEBUG) << "Initiate = " << (jboolean)initiate;
+  uint8_t *dataReceivedPtr =
+      (uint8_t *)env->GetDirectBufferAddress(dataReceived);
+  SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
+  SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
+  jint retVal;
+  if (initiate) {
+    llvm::SmallVector<uint8_t, 128> sendBuf;
+    sendBuf.resize(size);
+    retVal = HAL_TransactionSPI(static_cast<HAL_SPIPort>(port), sendBuf.data(), dataReceivedPtr, size);
+  } else {
+    retVal = HAL_ReadSPI(static_cast<HAL_SPIPort>(port), (uint8_t *)dataReceivedPtr, size);
+  }
+  SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiReadB
+ * Signature: (IZ[BB)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadB(
+    JNIEnv *env, jclass, jint port, jboolean initiate, jbyteArray dataReceived, jbyte size) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadB";
+  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+  SPIJNI_LOG(logDEBUG) << "Initiate = " << (jboolean)initiate;
+  SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
+  jint retVal;
+  llvm::SmallVector<uint8_t, 128> recvBuf;
+  recvBuf.resize(size);
+  if (initiate) {
+    llvm::SmallVector<uint8_t, 128> sendBuf;
+    sendBuf.resize(size);
+    retVal = HAL_TransactionSPI(static_cast<HAL_SPIPort>(port), sendBuf.data(), recvBuf.data(), size);
+  } else {
+    retVal = HAL_ReadSPI(static_cast<HAL_SPIPort>(port), recvBuf.data(), size);
+  }
+  env->SetByteArrayRegion(dataReceived, 0, size,
+                          reinterpret_cast<const jbyte *>(recvBuf.data()));
+  SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiClose
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiClose(JNIEnv *, jclass, jint port) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiClose";
+  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+  HAL_CloseSPI(static_cast<HAL_SPIPort>(port));
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiSetSpeed
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetSpeed(
+    JNIEnv *, jclass, jint port, jint speed) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetSpeed";
+  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+  SPIJNI_LOG(logDEBUG) << "Speed = " << (jint)speed;
+  HAL_SetSPISpeed(static_cast<HAL_SPIPort>(port), speed);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiSetOpts
+ * Signature: (IIII)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetOpts(
+    JNIEnv *, jclass, jint port, jint msb_first, jint sample_on_trailing,
+    jint clk_idle_high) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetOpts";
+  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+  SPIJNI_LOG(logDEBUG) << "msb_first = " << msb_first;
+  SPIJNI_LOG(logDEBUG) << "sample_on_trailing = " << sample_on_trailing;
+  SPIJNI_LOG(logDEBUG) << "clk_idle_high = " << clk_idle_high;
+  HAL_SetSPIOpts(static_cast<HAL_SPIPort>(port), msb_first, sample_on_trailing, clk_idle_high);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiSetChipSelectActiveHigh
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveHigh(
+    JNIEnv *env, jclass, jint port) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveHigh";
+  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+  int32_t status = 0;
+  HAL_SetSPIChipSelectActiveHigh(static_cast<HAL_SPIPort>(port), &status);
+  SPIJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiSetChipSelectActiveLow
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveLow(
+    JNIEnv *env, jclass, jint port) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveLow";
+  SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+  int32_t status = 0;
+  HAL_SetSPIChipSelectActiveLow(static_cast<HAL_SPIPort>(port), &status);
+  SPIJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiInitAuto
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitAuto
+  (JNIEnv *env, jclass, jint port, jint bufferSize) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitAuto";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
+  SPIJNI_LOG(logDEBUG) << "BufferSize = " << bufferSize;
+  int32_t status = 0;
+  HAL_InitSPIAuto(static_cast<HAL_SPIPort>(port), bufferSize, &status);
+  SPIJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiFreeAuto
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiFreeAuto
+  (JNIEnv *env, jclass, jint port) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiFreeAuto";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
+  int32_t status = 0;
+  HAL_FreeSPIAuto(static_cast<HAL_SPIPort>(port), &status);
+  SPIJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiStartAutoRate
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStartAutoRate
+  (JNIEnv *env, jclass, jint port, jdouble period) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStartAutoRate";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
+  SPIJNI_LOG(logDEBUG) << "Period = " << period;
+  int32_t status = 0;
+  HAL_StartSPIAutoRate(static_cast<HAL_SPIPort>(port), period, &status);
+  SPIJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiStartAutoTrigger
+ * Signature: (IIIZZ)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStartAutoTrigger
+  (JNIEnv *env, jclass, jint port, jint digitalSourceHandle, jint analogTriggerType, jboolean triggerRising, jboolean triggerFalling) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStartAutoTrigger";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
+  SPIJNI_LOG(logDEBUG) << "DigitalSourceHandle = " << digitalSourceHandle;
+  SPIJNI_LOG(logDEBUG) << "AnalogTriggerType = " << analogTriggerType;
+  SPIJNI_LOG(logDEBUG) << "TriggerRising = " << (jint)triggerRising;
+  SPIJNI_LOG(logDEBUG) << "TriggerFalling = " << (jint)triggerFalling;
+  int32_t status = 0;
+  HAL_StartSPIAutoTrigger(static_cast<HAL_SPIPort>(port), digitalSourceHandle,
+      static_cast<HAL_AnalogTriggerType>(analogTriggerType), triggerRising,
+      triggerFalling, &status);
+  SPIJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiStopAuto
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStopAuto
+  (JNIEnv *env, jclass, jint port) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStopAuto";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
+  int32_t status = 0;
+  HAL_StopSPIAuto(static_cast<HAL_SPIPort>(port), &status);
+  SPIJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiSetAutoTransmitData
+ * Signature: (I[BI)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAutoTransmitData
+  (JNIEnv *env, jclass, jint port, jbyteArray dataToSend, jint zeroSize) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAutoTransmitData";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
+  SPIJNI_LOG(logDEBUG) << "ZeroSize = " << zeroSize;
+  JByteArrayRef jarr(env, dataToSend);
+  int32_t status = 0;
+  HAL_SetSPIAutoTransmitData(static_cast<HAL_SPIPort>(port),
+      reinterpret_cast<const uint8_t*>(jarr.array().data()),
+      jarr.array().size(), zeroSize, &status);
+  SPIJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiForceAutoRead
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiForceAutoRead
+  (JNIEnv *env, jclass, jint port) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiForceAutoRead";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
+  int32_t status = 0;
+  HAL_ForceSPIAutoRead(static_cast<HAL_SPIPort>(port), &status);
+  SPIJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiReadAutoReceivedData
+ * Signature: (ILjava/nio/ByteBuffer;ID)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadAutoReceivedData__ILjava_nio_ByteBuffer_2ID
+  (JNIEnv *env, jclass, jint port, jobject buffer, jint numToRead, jdouble timeout) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadAutoReceivedData";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
+  SPIJNI_LOG(logDEBUG) << "NumToRead = " << numToRead;
+  SPIJNI_LOG(logDEBUG) << "Timeout = " << timeout;
+  uint8_t *recvBuf = (uint8_t *)env->GetDirectBufferAddress(buffer);
+  int32_t status = 0;
+  jint retval = HAL_ReadSPIAutoReceivedData(static_cast<HAL_SPIPort>(port), recvBuf, numToRead, timeout, &status);
+  SPIJNI_LOG(logDEBUG) << "Status = " << status;
+  SPIJNI_LOG(logDEBUG) << "Return = " << retval;
+  CheckStatus(env, status);
+  return retval;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiReadAutoReceivedData
+ * Signature: (I[BID)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadAutoReceivedData__I_3BID
+  (JNIEnv *env, jclass, jint port, jbyteArray buffer, jint numToRead, jdouble timeout) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadAutoReceivedData";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
+  SPIJNI_LOG(logDEBUG) << "NumToRead = " << numToRead;
+  SPIJNI_LOG(logDEBUG) << "Timeout = " << timeout;
+  llvm::SmallVector<uint8_t, 128> recvBuf;
+  recvBuf.resize(numToRead);
+  int32_t status = 0;
+  jint retval = HAL_ReadSPIAutoReceivedData(static_cast<HAL_SPIPort>(port), recvBuf.data(), numToRead, timeout, &status);
+  SPIJNI_LOG(logDEBUG) << "Status = " << status;
+  SPIJNI_LOG(logDEBUG) << "Return = " << retval;
+  if (!CheckStatus(env, status)) return retval;
+  if (numToRead > 0) {
+    env->SetByteArrayRegion(buffer, 0, numToRead,
+                            reinterpret_cast<const jbyte *>(recvBuf.data()));
+  }
+  return retval;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SPIJNI
+ * Method:    spiGetAutoDroppedCount
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAutoDroppedCount
+  (JNIEnv *env, jclass, jint port) {
+  SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAutoDroppedCount";
+  SPIJNI_LOG(logDEBUG) << "Port = " << port;
+  int32_t status = 0;
+  auto retval = HAL_GetSPIAutoDroppedCount(static_cast<HAL_SPIPort>(port), &status);
+  SPIJNI_LOG(logDEBUG) << "Status = " << status;
+  SPIJNI_LOG(logDEBUG) << "Return = " << retval;
+  CheckStatus(env, status);
+  return retval;
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/SerialPortJNI.cpp

@@ -0,0 +1,341 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+#include "HAL/cpp/Log.h"
+
+#include "edu_wpi_first_wpilibj_hal_SerialPortJNI.h"
+
+#include "HAL/SerialPort.h"
+#include "HALUtil.h"
+#include "support/jni_util.h"
+
+using namespace frc;
+using namespace wpi::java;
+
+// set the logging level
+TLogLevel serialJNILogLevel = logWARNING;
+
+#define SERIALJNI_LOG(level)     \
+  if (level > serialJNILogLevel) \
+    ;                            \
+  else                           \
+  Log().Get(level)
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialInitializePort
+ * Signature: (B)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialInitializePort(
+    JNIEnv* env, jclass, jbyte port) {
+  SERIALJNI_LOG(logDEBUG) << "Calling Serial Initialize";
+  SERIALJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+  int32_t status = 0;
+  HAL_InitializeSerialPort(static_cast<HAL_SerialPort>(port), &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatusForceThrow(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialInitializePortDirect
+ * Signature: (BLjava/lang/String;)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialInitializePortDirect(
+    JNIEnv* env, jclass, jbyte port, jstring portName) {
+  SERIALJNI_LOG(logDEBUG) << "Calling Serial Initialize Direct";
+  SERIALJNI_LOG(logDEBUG) << "Port = " << (jint)port;
+  JStringRef portNameRef{env, portName};
+  SERIALJNI_LOG(logDEBUG) << "PortName = " << portNameRef.c_str();
+  int32_t status = 0;
+  HAL_InitializeSerialPortDirect(static_cast<HAL_SerialPort>(port),
+                                 portNameRef.c_str(), &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatusForceThrow(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialSetBaudRate
+ * Signature: (BI)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetBaudRate(
+    JNIEnv* env, jclass, jbyte port, jint rate) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Baud Rate";
+  SERIALJNI_LOG(logDEBUG) << "Baud: " << rate;
+  int32_t status = 0;
+  HAL_SetSerialBaudRate(static_cast<HAL_SerialPort>(port), rate, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialSetDataBits
+ * Signature: (BB)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetDataBits(
+    JNIEnv* env, jclass, jbyte port, jbyte bits) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Data Bits";
+  SERIALJNI_LOG(logDEBUG) << "Data Bits: " << bits;
+  int32_t status = 0;
+  HAL_SetSerialDataBits(static_cast<HAL_SerialPort>(port), bits, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialSetParity
+ * Signature: (BB)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetParity(
+    JNIEnv* env, jclass, jbyte port, jbyte parity) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Parity";
+  SERIALJNI_LOG(logDEBUG) << "Parity: " << parity;
+  int32_t status = 0;
+  HAL_SetSerialParity(static_cast<HAL_SerialPort>(port), parity, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialSetStopBits
+ * Signature: (BB)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetStopBits(
+    JNIEnv* env, jclass, jbyte port, jbyte bits) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Stop Bits";
+  SERIALJNI_LOG(logDEBUG) << "Stop Bits: " << bits;
+  int32_t status = 0;
+  HAL_SetSerialStopBits(static_cast<HAL_SerialPort>(port), bits, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialSetWriteMode
+ * Signature: (BB)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetWriteMode(
+    JNIEnv* env, jclass, jbyte port, jbyte mode) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Mode";
+  SERIALJNI_LOG(logDEBUG) << "Write mode: " << mode;
+  int32_t status = 0;
+  HAL_SetSerialWriteMode(static_cast<HAL_SerialPort>(port), mode, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialSetFlowControl
+ * Signature: (BB)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetFlowControl(
+    JNIEnv* env, jclass, jbyte port, jbyte flow) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Flow Control";
+  SERIALJNI_LOG(logDEBUG) << "Flow Control: " << flow;
+  int32_t status = 0;
+  HAL_SetSerialFlowControl(static_cast<HAL_SerialPort>(port), flow, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialSetTimeout
+ * Signature: (BD)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetTimeout(
+    JNIEnv* env, jclass, jbyte port, jdouble timeout) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Timeout";
+  SERIALJNI_LOG(logDEBUG) << "Timeout: " << timeout;
+  int32_t status = 0;
+  HAL_SetSerialTimeout(static_cast<HAL_SerialPort>(port), timeout, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialEnableTermination
+ * Signature: (BC)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialEnableTermination(
+    JNIEnv* env, jclass, jbyte port, jchar terminator) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Enable Termination";
+  SERIALJNI_LOG(logDEBUG) << "Terminator: " << terminator;
+  int32_t status = 0;
+  HAL_EnableSerialTermination(static_cast<HAL_SerialPort>(port), terminator, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialDisableTermination
+ * Signature: (B)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialDisableTermination(
+    JNIEnv* env, jclass, jbyte port) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Disable termination";
+  int32_t status = 0;
+  HAL_DisableSerialTermination(static_cast<HAL_SerialPort>(port), &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialSetReadBufferSize
+ * Signature: (BI)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetReadBufferSize(
+    JNIEnv* env, jclass, jbyte port, jint size) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Read Buffer Size";
+  SERIALJNI_LOG(logDEBUG) << "Size: " << size;
+  int32_t status = 0;
+  HAL_SetSerialReadBufferSize(static_cast<HAL_SerialPort>(port), size, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialSetWriteBufferSize
+ * Signature: (BI)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetWriteBufferSize(
+    JNIEnv* env, jclass, jbyte port, jint size) {
+  SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Buffer Size";
+  SERIALJNI_LOG(logDEBUG) << "Size: " << size;
+  int32_t status = 0;
+  HAL_SetSerialWriteBufferSize(static_cast<HAL_SerialPort>(port), size, &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialGetBytesReceived
+ * Signature: (B)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialGetBytesReceived(
+    JNIEnv* env, jclass, jbyte port) {
+  SERIALJNI_LOG(logDEBUG) << "Serial Get Bytes Received";
+  int32_t status = 0;
+  jint retVal = HAL_GetSerialBytesReceived(static_cast<HAL_SerialPort>(port), &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialRead
+ * Signature: (B[BI)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialRead(
+    JNIEnv* env, jclass, jbyte port, jbyteArray dataReceived, jint size) {
+  SERIALJNI_LOG(logDEBUG) << "Serial Read";
+  llvm::SmallVector<char, 128> recvBuf;
+  recvBuf.resize(size);
+  int32_t status = 0;
+  jint retVal = HAL_ReadSerial(static_cast<HAL_SerialPort>(port), recvBuf.data(),
+                               size, &status);
+  env->SetByteArrayRegion(dataReceived, 0, size,
+                          reinterpret_cast<const jbyte *>(recvBuf.data()));
+  SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialWrite
+ * Signature: (B[BI)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialWrite(
+    JNIEnv* env, jclass, jbyte port, jbyteArray dataToSend, jint size) {
+  SERIALJNI_LOG(logDEBUG) << "Serial Write";
+  int32_t status = 0;
+  jint retVal =
+      HAL_WriteSerial(static_cast<HAL_SerialPort>(port),
+                      reinterpret_cast<const char *>(
+                          JByteArrayRef(env, dataToSend).array().data()),
+                      size, &status);
+  SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialFlush
+ * Signature: (B)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialFlush(
+    JNIEnv* env, jclass, jbyte port) {
+  SERIALJNI_LOG(logDEBUG) << "Serial Flush";
+  int32_t status = 0;
+  HAL_FlushSerial(static_cast<HAL_SerialPort>(port), &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialClear
+ * Signature: (B)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialClear(
+    JNIEnv* env, jclass, jbyte port) {
+  SERIALJNI_LOG(logDEBUG) << "Serial Clear";
+  int32_t status = 0;
+  HAL_ClearSerial(static_cast<HAL_SerialPort>(port), &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
+ * Method:    serialClose
+ * Signature: (B)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialClose(
+    JNIEnv* env, jclass, jbyte port) {
+  SERIALJNI_LOG(logDEBUG) << "Serial Close";
+  int32_t status = 0;
+  HAL_CloseSerial(static_cast<HAL_SerialPort>(port), &status);
+  SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/SolenoidJNI.cpp

@@ -0,0 +1,226 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <jni.h>
+#include "HAL/Solenoid.h"
+#include "HAL/Ports.h"
+#include "HAL/handles/HandlesInternal.h"
+#include "HAL/cpp/Log.h"
+
+#include "edu_wpi_first_wpilibj_hal_SolenoidJNI.h"
+
+#include "HALUtil.h"
+
+using namespace frc;
+
+TLogLevel solenoidJNILogLevel = logERROR;
+
+#define SOLENOIDJNI_LOG(level)     \
+  if (level > solenoidJNILogLevel) \
+    ;                              \
+  else                             \
+  Log().Get(level)
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SolenoidJNI
+ * Method:    initializeSolenoidPort
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_initializeSolenoidPort(
+    JNIEnv *env, jclass, jint id) {
+  SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI initializeSolenoidPort";
+
+  SOLENOIDJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
+
+  int32_t status = 0;
+  HAL_SolenoidHandle handle =
+      HAL_InitializeSolenoidPort((HAL_PortHandle)id, &status);
+
+  SOLENOIDJNI_LOG(logDEBUG) << "Status = " << status;
+  SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Handle = " << handle;
+
+  // Use solenoid channels, as we have to pick one.
+  CheckStatusRange(env, status, 0, HAL_GetNumSolenoidChannels(),
+                   hal::getPortHandleChannel((HAL_PortHandle)id));
+  return (jint)handle;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SolenoidJNI
+ * Method:    checkSolenoidChannel
+ * Signature: (I)Z;
+*/
+JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_checkSolenoidChannel(
+    JNIEnv *env, jclass, jint channel) {
+  SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI checkSolenoidChannel";
+  SOLENOIDJNI_LOG(logDEBUG) << "Channel = " << channel;
+  return HAL_CheckSolenoidChannel(channel);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SolenoidJNI
+ * Method:    checkSolenoidModule
+ * Signature: (I)Z;
+*/
+JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_checkSolenoidModule(
+    JNIEnv *env, jclass, jint module) {
+  SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI checkSolenoidModule";
+  SOLENOIDJNI_LOG(logDEBUG) << "Module = " << module;
+  return HAL_CheckSolenoidModule(module);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SolenoidJNI
+ * Method:    freeSolenoidPort
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_freeSolenoidPort(
+    JNIEnv *env, jclass, jint id) {
+  SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI initializeSolenoidPort";
+
+  SOLENOIDJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_SolenoidHandle)id;
+  HAL_FreeSolenoidPort((HAL_SolenoidHandle)id);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SolenoidJNI
+ * Method:    setSolenoid
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_setSolenoid(
+    JNIEnv *env, jclass, jint solenoid_port, jboolean value) {
+  SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI SetSolenoid";
+
+  SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Handle = "
+                            << (HAL_SolenoidHandle)solenoid_port;
+
+  int32_t status = 0;
+  HAL_SetSolenoid((HAL_SolenoidHandle)solenoid_port, value, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SolenoidJNI
+ * Method:    getSolenoid
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getSolenoid(
+    JNIEnv *env, jclass, jint solenoid_port) {
+  int32_t status = 0;
+  jboolean val = HAL_GetSolenoid((HAL_SolenoidHandle)solenoid_port, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SolenoidJNI
+ * Method:    getAllSolenoids
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getAllSolenoids(
+    JNIEnv *env, jclass, jint module) {
+  int32_t status = 0;
+  jint val = HAL_GetAllSolenoids(module, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SolenoidJNI
+ * Method:    getPCMSolenoidBlackList
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidBlackList(
+    JNIEnv *env, jclass, jint module) {
+  int32_t status = 0;
+  jint val = HAL_GetPCMSolenoidBlackList(module, &status);
+  CheckStatus(env, status);
+  return val;
+}
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SolenoidJNI
+ * Method:    getPCMSolenoidVoltageStickyFault
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidVoltageStickyFault(
+    JNIEnv *env, jclass, jint module) {
+  int32_t status = 0;
+  bool val = HAL_GetPCMSolenoidVoltageStickyFault(module, &status);
+  CheckStatus(env, status);
+  return val;
+}
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SolenoidJNI
+ * Method:    getPCMSolenoidVoltageFault
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidVoltageFault(
+    JNIEnv *env, jclass, jint module) {
+  int32_t status = 0;
+  bool val = HAL_GetPCMSolenoidVoltageFault(module, &status);
+  CheckStatus(env, status);
+  return val;
+}
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SolenoidJNI
+ * Method:    clearAllPCMStickyFaults
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_clearAllPCMStickyFaults(
+    JNIEnv *env, jclass, jint module) {
+  int32_t status = 0;
+  HAL_ClearAllPCMStickyFaults(module, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SolenoidJNI
+ * Method:    setOneShotDuration
+ * Signature: (IJ)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_setOneShotDuration
+  (JNIEnv *env, jclass, jint solenoid_port, jlong durationMS)
+{
+  SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI SetOneShotDuration";
+
+  SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Handle = "
+                            << (HAL_SolenoidHandle)solenoid_port;
+  SOLENOIDJNI_LOG(logDEBUG) << "Duration (MS) = " << durationMS;
+
+  int32_t status = 0;
+  HAL_SetOneShotDuration((HAL_SolenoidHandle)solenoid_port, durationMS, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_SolenoidJNI
+ * Method:    fireOneShot
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_fireOneShot
+  (JNIEnv *env, jclass, jint solenoid_port)
+{
+  SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI fireOneShot";
+
+  SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Handle = "
+                            << (HAL_SolenoidHandle)solenoid_port;
+
+  int32_t status = 0;
+  HAL_FireOneShot((HAL_SolenoidHandle)solenoid_port, &status);
+  CheckStatus(env, status);
+}
+}  // extern "C"

hal/src/main/native/cpp/jni/ThreadsJNI.cpp

@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+#include "HAL/cpp/Log.h"
+
+#include "edu_wpi_first_wpilibj_hal_ThreadsJNI.h"
+
+#include "HAL/Threads.h"
+#include "HALUtil.h"
+
+using namespace frc;
+
+// set the logging level
+TLogLevel threadsJNILogLevel = logWARNING;
+
+#define THREADSJNI_LOG(level)     \
+  if (level > threadsJNILogLevel) \
+    ;                            \
+  else                           \
+  Log().Get(level)
+
+extern "C" {
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_ThreadsJNI
+ * Method:    GetCurrentThreadPriority
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_ThreadsJNI_getCurrentThreadPriority
+  (JNIEnv *env, jclass) {
+  THREADSJNI_LOG(logDEBUG) << "Callling GetCurrentThreadPriority";
+  int32_t status = 0;
+  HAL_Bool isRT = false;
+  auto ret = HAL_GetCurrentThreadPriority(&isRT, &status);
+  CheckStatus(env, status);
+  return (jint)ret;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_ThreadsJNI
+ * Method:    GetCurrentThreadIsRealTime
+ * Signature: ()Z
+ */
+JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_ThreadsJNI_getCurrentThreadIsRealTime
+  (JNIEnv *env, jclass) {
+  THREADSJNI_LOG(logDEBUG) << "Callling GetCurrentThreadIsRealTime";
+  int32_t status = 0;
+  HAL_Bool isRT = false;
+  HAL_GetCurrentThreadPriority(&isRT, &status);
+  CheckStatus(env, status);
+  return (jboolean)isRT;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_ThreadsJNI
+ * Method:    SetCurrentThreadPriority
+ * Signature: (ZI)Z
+ */
+JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_ThreadsJNI_setCurrentThreadPriority
+  (JNIEnv *env, jclass, jboolean realTime, jint priority) {
+  THREADSJNI_LOG(logDEBUG) << "Callling SetCurrentThreadPriority";
+  int32_t status = 0;
+  auto ret = HAL_SetCurrentThreadPriority((HAL_Bool)realTime, (int32_t)priority, &status);
+  CheckStatus(env, status);
+  return (jboolean)ret;
+}
+
+}