Add AddressableLED (#2092)

2026-06-20 00:51:42 +00:00 · 2019-11-17 16:39:38 -08:00
parent 59507b12dc
commit 8ed2059074
20 changed files with 991 additions and 3 deletions
--- a/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp
+++ b/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp
@@ -0,0 +1,143 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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 <jni.h>
+
+#include <wpi/jni_util.h>
+
+#include "HALUtil.h"
+#include "edu_wpi_first_hal_AddressableLEDJNI.h"
+#include "hal/AddressableLED.h"
+
+using namespace frc;
+using namespace wpi::java;
+
+extern "C" {
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    initialize
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_initialize
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto ret = HAL_InitializeAddressableLED(
+      static_cast<HAL_DigitalHandle>(handle), &status);
+  CheckStatus(env, status);
+  return ret;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    free
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_free
+  (JNIEnv* env, jclass, jint handle)
+{
+  HAL_FreeAddressableLED(static_cast<HAL_AddressableLEDHandle>(handle));
+}
+
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    setLength
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_setLength
+  (JNIEnv* env, jclass, jint handle, jint length)
+{
+  int32_t status = 0;
+  HAL_SetAddressableLEDLength(static_cast<HAL_AddressableLEDHandle>(handle),
+                              length, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    setData
+ * Signature: (I[B)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_setData
+  (JNIEnv* env, jclass, jint handle, jbyteArray arr)
+{
+  int32_t status = 0;
+  JByteArrayRef jArrRef{env, arr};
+  auto arrRef = jArrRef.array();
+  HAL_WriteAddressableLEDData(
+      static_cast<HAL_AddressableLEDHandle>(handle),
+      reinterpret_cast<const HAL_AddressableLEDData*>(arrRef.data()),
+      arrRef.size() / 4, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    setBitTiming
+ * Signature: (IIIII)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_setBitTiming
+  (JNIEnv* env, jclass, jint handle, jint lowTime0, jint highTime0,
+   jint lowTime1, jint highTime1)
+{
+  int32_t status = 0;
+  HAL_SetAddressableLEDBitTiming(static_cast<HAL_AddressableLEDHandle>(handle),
+                                 lowTime0, highTime0, lowTime1, highTime1,
+                                 &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    setSyncTime
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_setSyncTime
+  (JNIEnv* env, jclass, jint handle, jint syncTime)
+{
+  int32_t status = 0;
+  HAL_SetAddressableLEDSyncTime(static_cast<HAL_AddressableLEDHandle>(handle),
+                                syncTime, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    start
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_start
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  HAL_StartAddressableLEDOutput(static_cast<HAL_AddressableLEDHandle>(handle),
+                                &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    stop
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_stop
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  HAL_StopAddressableLEDOutput(static_cast<HAL_AddressableLEDHandle>(handle),
+                               &status);
+  CheckStatus(env, status);
+}
+}  // extern "C"