mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-07-04 03:11:43 +00:00
Support for the CAN pneumatics module in C++ and Java
Change-Id: I2ccb1d13d1c5da00a99329c761b75a6c2b3ea56d
This commit is contained in:
thomasclark
115
wpilibj/wpilibJavaJNI/lib/CompressorJNI.cpp
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115
wpilibj/wpilibJavaJNI/lib/CompressorJNI.cpp
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@@ -0,0 +1,115 @@
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#include "Log.h"
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#include "edu_wpi_first_wpilibj_hal_CompressorJNI.h"
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#include "HAL/HAL.h"
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typedef void *VoidPointer;
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/*
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* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
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* Method: initializeCompressor
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* Signature: (B)Ljava/nio/ByteBuffer;
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_initializeCompressor
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(JNIEnv *env, jclass, jbyte module)
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{
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VoidPointer *pcm_pointer = new VoidPointer;
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*pcm_pointer = initializeCompressor(module);
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return env->NewDirectByteBuffer(pcm_pointer, 4);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
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* Method: checkCompressorModule
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* Signature: (B)Z
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_checkCompressorModule
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(JNIEnv *env, jclass, jbyte module)
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{
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return checkCompressorModule(module);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
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* Method: setCompressor
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* Signature: (Ljava/nio/ByteBuffer;ZLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_setCompressor
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(JNIEnv *env, jclass, jobject pcm_pointer_object, jboolean value, jobject status)
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{
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VoidPointer *pcm_pointer = (VoidPointer *)env->GetDirectBufferAddress(pcm_pointer_object);
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jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
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setCompressor(*pcm_pointer, value, status_pointer);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
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* Method: getCompressor
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Z
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressor
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(JNIEnv *env, jclass, jobject pcm_pointer_object, jobject status)
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{
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VoidPointer *pcm_pointer = (VoidPointer *)env->GetDirectBufferAddress(pcm_pointer_object);
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jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
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return getCompressor(*pcm_pointer, status_pointer);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
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* Method: setClosedLoopControl
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* Signature: (Ljava/nio/ByteBuffer;ZLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_setClosedLoopControl
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(JNIEnv *env, jclass, jobject pcm_pointer_object, jboolean value, jobject status)
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{
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VoidPointer *pcm_pointer = (VoidPointer *)env->GetDirectBufferAddress(pcm_pointer_object);
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jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
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setClosedLoopControl(*pcm_pointer, value, status_pointer);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
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* Method: getClosedLoopControl
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Z
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getClosedLoopControl
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(JNIEnv *env, jclass, jobject pcm_pointer_object, jobject status)
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{
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VoidPointer *pcm_pointer = (VoidPointer *)env->GetDirectBufferAddress(pcm_pointer_object);
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jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
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return getClosedLoopControl(*pcm_pointer, status_pointer);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
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* Method: getPressureSwitch
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Z
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getPressureSwitch
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(JNIEnv *env, jclass, jobject pcm_pointer_object, jobject status)
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{
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VoidPointer *pcm_pointer = (VoidPointer *)env->GetDirectBufferAddress(pcm_pointer_object);
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jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
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return getPressureSwitch(*pcm_pointer, status_pointer);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CompressorJNI
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* Method: getCompressorCurrent
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)F
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*/
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JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrent
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(JNIEnv *env, jclass, jobject pcm_pointer_object, jobject status)
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{
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VoidPointer *pcm_pointer = (VoidPointer *)env->GetDirectBufferAddress(pcm_pointer_object);
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jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
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return getCompressorCurrent(*pcm_pointer, status_pointer);
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}
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91
wpilibj/wpilibJavaJNI/lib/SolenoidJNI.cpp
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91
wpilibj/wpilibJavaJNI/lib/SolenoidJNI.cpp
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@@ -0,0 +1,91 @@
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#include <jni.h>
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#include "Log.h"
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#include "HAL/HAL.h"
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#include "edu_wpi_first_wpilibj_hal_SolenoidJNI.h"
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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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else Log().Get(level)
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typedef void *VoidPointer;
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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: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_initializeSolenoidPort
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(JNIEnv *env, jclass, jobject port_pointer, jobject status)
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{
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SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI initializeSolenoidPort";
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VoidPointer *port_pointer_pointer = (VoidPointer *)env->GetDirectBufferAddress(port_pointer);
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SOLENOIDJNI_LOG(logDEBUG) << "Port Ptr = " << *port_pointer_pointer;
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char *aschars = (char *)(*port_pointer_pointer);
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SOLENOIDJNI_LOG(logDEBUG) << '\t' << (int)aschars[0] << '\t' << (int)aschars[1] << std::endl;
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jint *status_pointer = (jint*)env->GetDirectBufferAddress(status);
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SOLENOIDJNI_LOG(logDEBUG) << "Status Ptr = " << status_pointer;
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VoidPointer *solenoid_port_pointer = new VoidPointer;
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*solenoid_port_pointer = initializeSolenoidPort(*port_pointer_pointer, status_pointer);
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SOLENOIDJNI_LOG(logDEBUG) << "Status = " << *status_pointer;
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SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Pointer = " << *solenoid_port_pointer;
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int *asints = (int *)(*solenoid_port_pointer);
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SOLENOIDJNI_LOG(logDEBUG) << '\t' << asints[0] << '\t' << asints[1] << std::endl;
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return env->NewDirectByteBuffer(solenoid_port_pointer, 4);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
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* Method: getPortWithModule
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* Signature: (BB)Ljava/nio/ByteBuffer;
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPortWithModule
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(JNIEnv *env, jclass, jbyte module, jbyte channel)
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{
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VoidPointer *port_pointer = new VoidPointer;
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*port_pointer = getPortWithModule(module + 1, channel);
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return env->NewDirectByteBuffer(port_pointer, 4);
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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: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)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, jobject solenoid_port, jbyte value, jobject status)
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{
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SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI SetSolenoid";
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VoidPointer *solenoid_port_pointer = (VoidPointer *)env->GetDirectBufferAddress(solenoid_port);
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SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Pointer = " << *solenoid_port_pointer;
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jint *status_pointer = (jint*)env->GetDirectBufferAddress(status);
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SOLENOIDJNI_LOG(logDEBUG) << "Status Ptr = " << status_pointer;
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setSolenoid(*solenoid_port_pointer, value, status_pointer);
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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: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getSolenoid
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(JNIEnv *env, jclass, jobject solenoid_port, jobject status)
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{
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VoidPointer *solenoid_port_pointer = (VoidPointer *)env->GetDirectBufferAddress(solenoid_port);
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jint *status_pointer = (jint*)env->GetDirectBufferAddress(status);
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return getSolenoid(*solenoid_port_pointer, status_pointer);
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}
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@@ -122,6 +122,8 @@ this default location, specify a value for the 'embeddedJDKHome' property at the
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<javahClassName>edu.wpi.first.wpilibj.hal.PWMJNI</javahClassName>
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<javahClassName>edu.wpi.first.wpilibj.hal.RelayJNI</javahClassName>
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<javahClassName>edu.wpi.first.wpilibj.hal.SPIJNI</javahClassName>
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<javahClassName>edu.wpi.first.wpilibj.hal.SolenoidJNI</javahClassName>
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<javahClassName>edu.wpi.first.wpilibj.hal.CompressorJNI</javahClassName>
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</javahClassNames>
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<!-- enable additional javah interface in dependencies list -->
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<!-- javahSearchJNIFromDependencies>true</javahSearchJNIFromDependencies -->
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