New 2018 and later build setup (#1001)

2026-06-22 01:11:42 +00:00 · 2018-04-29 13:29:07 -07:00
parent cb2c9eb6d5
commit 7f88cf768d
317 changed files with 60521 additions and 54781 deletions
--- a/hal/src/main/native/cpp/jni/RelayJNI.cpp
+++ b/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"