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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
226
hal/src/main/native/cpp/jni/SolenoidJNI.cpp
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226
hal/src/main/native/cpp/jni/SolenoidJNI.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 <jni.h>
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#include "HAL/Solenoid.h"
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#include "HAL/Ports.h"
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#include "HAL/handles/HandlesInternal.h"
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#include "HAL/cpp/Log.h"
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#include "edu_wpi_first_wpilibj_hal_SolenoidJNI.h"
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#include "HALUtil.h"
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using namespace frc;
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TLogLevel solenoidJNILogLevel = logERROR;
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#define SOLENOIDJNI_LOG(level) \
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if (level > solenoidJNILogLevel) \
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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_SolenoidJNI
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* Method: initializeSolenoidPort
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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_SolenoidJNI_initializeSolenoidPort(
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JNIEnv *env, jclass, jint id) {
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SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI initializeSolenoidPort";
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SOLENOIDJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
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int32_t status = 0;
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HAL_SolenoidHandle handle =
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HAL_InitializeSolenoidPort((HAL_PortHandle)id, &status);
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SOLENOIDJNI_LOG(logDEBUG) << "Status = " << status;
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SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Handle = " << handle;
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// Use solenoid channels, as we have to pick one.
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CheckStatusRange(env, status, 0, HAL_GetNumSolenoidChannels(),
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hal::getPortHandleChannel((HAL_PortHandle)id));
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return (jint)handle;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
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* Method: checkSolenoidChannel
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* Signature: (I)Z;
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_checkSolenoidChannel(
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JNIEnv *env, jclass, jint channel) {
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SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI checkSolenoidChannel";
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SOLENOIDJNI_LOG(logDEBUG) << "Channel = " << channel;
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return HAL_CheckSolenoidChannel(channel);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
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* Method: checkSolenoidModule
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* Signature: (I)Z;
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_checkSolenoidModule(
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JNIEnv *env, jclass, jint module) {
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SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI checkSolenoidModule";
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SOLENOIDJNI_LOG(logDEBUG) << "Module = " << module;
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return HAL_CheckSolenoidModule(module);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
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* Method: freeSolenoidPort
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_freeSolenoidPort(
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JNIEnv *env, jclass, jint id) {
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SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI initializeSolenoidPort";
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SOLENOIDJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_SolenoidHandle)id;
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HAL_FreeSolenoidPort((HAL_SolenoidHandle)id);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
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* Method: setSolenoid
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* Signature: (IZ)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_setSolenoid(
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JNIEnv *env, jclass, jint solenoid_port, jboolean value) {
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SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI SetSolenoid";
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SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Handle = "
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<< (HAL_SolenoidHandle)solenoid_port;
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int32_t status = 0;
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HAL_SetSolenoid((HAL_SolenoidHandle)solenoid_port, value, &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_SolenoidJNI
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* Method: getSolenoid
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* Signature: (I)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getSolenoid(
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JNIEnv *env, jclass, jint solenoid_port) {
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int32_t status = 0;
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jboolean val = HAL_GetSolenoid((HAL_SolenoidHandle)solenoid_port, &status);
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CheckStatus(env, status);
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return val;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
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* Method: getAllSolenoids
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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_SolenoidJNI_getAllSolenoids(
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JNIEnv *env, jclass, jint module) {
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int32_t status = 0;
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jint val = HAL_GetAllSolenoids(module, &status);
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CheckStatus(env, status);
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return val;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
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* Method: getPCMSolenoidBlackList
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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_SolenoidJNI_getPCMSolenoidBlackList(
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JNIEnv *env, jclass, jint module) {
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int32_t status = 0;
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jint val = HAL_GetPCMSolenoidBlackList(module, &status);
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CheckStatus(env, status);
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return val;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
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* Method: getPCMSolenoidVoltageStickyFault
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* Signature: (I)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidVoltageStickyFault(
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JNIEnv *env, jclass, jint module) {
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int32_t status = 0;
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bool val = HAL_GetPCMSolenoidVoltageStickyFault(module, &status);
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CheckStatus(env, status);
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return val;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
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* Method: getPCMSolenoidVoltageFault
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* Signature: (I)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidVoltageFault(
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JNIEnv *env, jclass, jint module) {
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int32_t status = 0;
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bool val = HAL_GetPCMSolenoidVoltageFault(module, &status);
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CheckStatus(env, status);
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return val;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
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* Method: clearAllPCMStickyFaults
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_clearAllPCMStickyFaults(
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JNIEnv *env, jclass, jint module) {
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int32_t status = 0;
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HAL_ClearAllPCMStickyFaults(module, &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_SolenoidJNI
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* Method: setOneShotDuration
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* Signature: (IJ)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_setOneShotDuration
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(JNIEnv *env, jclass, jint solenoid_port, jlong durationMS)
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{
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SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI SetOneShotDuration";
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SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Handle = "
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<< (HAL_SolenoidHandle)solenoid_port;
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SOLENOIDJNI_LOG(logDEBUG) << "Duration (MS) = " << durationMS;
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int32_t status = 0;
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HAL_SetOneShotDuration((HAL_SolenoidHandle)solenoid_port, durationMS, &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_SolenoidJNI
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* Method: fireOneShot
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_fireOneShot
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(JNIEnv *env, jclass, jint solenoid_port)
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{
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SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI fireOneShot";
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SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Handle = "
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<< (HAL_SolenoidHandle)solenoid_port;
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int32_t status = 0;
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HAL_FireOneShot((HAL_SolenoidHandle)solenoid_port, &status);
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CheckStatus(env, status);
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}
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} // extern "C"
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