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https://github.com/wpilibsuite/allwpilib
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New 2018 and later build setup (#1001)
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
cb2c9eb6d5
commit
7f88cf768d
300
hal/src/main/native/cpp/jni/PWMJNI.cpp
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300
hal/src/main/native/cpp/jni/PWMJNI.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <assert.h>
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#include <jni.h>
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#include "HAL/cpp/Log.h"
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#include "edu_wpi_first_wpilibj_hal_PWMJNI.h"
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#include "HAL/DIO.h"
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#include "HAL/PWM.h"
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#include "HAL/Ports.h"
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#include "HALUtil.h"
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#include "HAL/handles/HandlesInternal.h"
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using namespace frc;
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// set the logging level
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TLogLevel pwmJNILogLevel = logWARNING;
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#define PWMJNI_LOG(level) \
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if (level > pwmJNILogLevel) \
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; \
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else \
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Log().Get(level)
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extern "C" {
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: initializePWMPort
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* Signature: (I)I;
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_PWMJNI_initializePWMPort(
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JNIEnv *env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI initializePWMPort";
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PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
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int32_t status = 0;
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auto pwm = HAL_InitializePWMPort((HAL_PortHandle)id, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << pwm;
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CheckStatusRange(env, status, 0, HAL_GetNumPWMChannels(),
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hal::getPortHandleChannel((HAL_PortHandle)id));
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return (jint)pwm;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: checkPWMChannel
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* Signature: (I)Z;
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_checkPWMChannel(
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JNIEnv *env, jclass, jint channel) {
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI checkPWMChannel";
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PWMJNI_LOG(logDEBUG) << "Channel = " << channel;
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return HAL_CheckPWMChannel(channel);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: freeDIOPort
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* Signature: (I)V;
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWMPort(
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JNIEnv *env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWMPort";
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PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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HAL_FreePWMPort((HAL_DigitalHandle)id, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: setPWMConfigRaw
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* Signature: (IIIIII)V;
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMConfigRaw(
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JNIEnv *env, jclass, jint id, jint maxPwm, jint deadbandMaxPwm,
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jint centerPwm, jint deadbandMinPwm, jint minPwm) {
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMConfigRaw";
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PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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HAL_SetPWMConfigRaw((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm,
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deadbandMinPwm, minPwm, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: setPWMConfig
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* Signature: (IDDDDD)V;
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMConfig(
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JNIEnv *env, jclass, jint id, jdouble maxPwm, jdouble deadbandMaxPwm,
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jdouble centerPwm, jdouble deadbandMinPwm, jdouble minPwm) {
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMConfig";
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PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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HAL_SetPWMConfig((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm,
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deadbandMinPwm, minPwm, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: getPWMConfigRaw
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* Signature: (I)Ledu/wpi/first/wpilibj/PWMConfigDataResult;
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMConfigRaw(
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JNIEnv *env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI getPWMConfigRaw";
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PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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int32_t maxPwm = 0;
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int32_t deadbandMaxPwm = 0;
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int32_t centerPwm = 0;
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int32_t deadbandMinPwm = 0;
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int32_t minPwm = 0;
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HAL_GetPWMConfigRaw((HAL_DigitalHandle)id, &maxPwm, &deadbandMaxPwm, ¢erPwm,
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&deadbandMinPwm, &minPwm, &status);
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CheckStatus(env, status);
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return CreatePWMConfigDataResult(env, maxPwm, deadbandMaxPwm, centerPwm,
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deadbandMinPwm, minPwm);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMEliminateDeadband
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* Signature: (IZ)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMEliminateDeadband(
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JNIEnv* env, jclass, jint id, jboolean value) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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HAL_SetPWMEliminateDeadband((HAL_DigitalHandle)id, value, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: getPWMEliminateDeadband
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* Signature: (I)Z
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMEliminateDeadband(
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JNIEnv* env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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auto val = HAL_GetPWMEliminateDeadband((HAL_DigitalHandle)id, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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return (jboolean)val;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMRaw
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* Signature: (IS)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRaw(
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JNIEnv* env, jclass, jint id, jshort value) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
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int32_t status = 0;
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HAL_SetPWMRaw((HAL_DigitalHandle)id, value, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMSpeed
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* Signature: (ID)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMSpeed(
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JNIEnv* env, jclass, jint id, jdouble value) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
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int32_t status = 0;
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HAL_SetPWMSpeed((HAL_DigitalHandle)id, value, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMPosition
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* Signature: (ID)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPosition(
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JNIEnv* env, jclass, jint id, jdouble value) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
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int32_t status = 0;
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HAL_SetPWMPosition((HAL_DigitalHandle)id, value, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: getPWMRaw
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* Signature: (I)S
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*/
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JNIEXPORT jshort JNICALL
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Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMRaw(
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JNIEnv* env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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jshort returnValue = HAL_GetPWMRaw((HAL_DigitalHandle)id, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: getPWMSpeed
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* Signature: (I)D
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*/
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JNIEXPORT jdouble JNICALL
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Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMSpeed(
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JNIEnv* env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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jdouble returnValue = HAL_GetPWMSpeed((HAL_DigitalHandle)id, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: getPWMPosition
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* Signature: (I)D
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*/
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JNIEXPORT jdouble JNICALL
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Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMPosition(
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JNIEnv* env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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jdouble returnValue = HAL_GetPWMPosition((HAL_DigitalHandle)id, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMDisabled
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDisabled(
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JNIEnv* env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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HAL_SetPWMDisabled((HAL_DigitalHandle)id, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: latchPWMZero
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_latchPWMZero(
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JNIEnv* env, jclass, jint id) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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HAL_LatchPWMZero((HAL_DigitalHandle)id, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMPeriodScale
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPeriodScale(
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JNIEnv* env, jclass, jint id, jint value) {
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PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
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PWMJNI_LOG(logDEBUG) << "PeriodScale Value = " << value;
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int32_t status = 0;
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HAL_SetPWMPeriodScale((HAL_DigitalHandle)id, value, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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} // extern "C"
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