mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
New 2018 and later build setup (#1001)
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
cb2c9eb6d5
commit
7f88cf768d
219
hal/src/main/native/cpp/jni/AnalogGyroJNI.cpp
Normal file
219
hal/src/main/native/cpp/jni/AnalogGyroJNI.cpp
Normal file
@@ -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"
|
||||
Reference in New Issue
Block a user