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JNI implementation for Java

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charris
2014-01-06 09:27:51 -05:00
parent 4297b2bc9d
commit b62b606110
185 changed files with 6316 additions and 1106 deletions
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484
wpilibj/wpilibJavaJNI/src/main/native/AnalogJNI.cpp Normal file
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#include <jni.h>
#include <assert.h>
#include "log.h"
#include "edu_wpi_first_wpilibj_hal_AnalogJNI.h"
#include "HAL/Analog.h"
// set the logging level
TLogLevel analogJNILogLevel = logDEBUG;
#define ANALOGJNI_LOG(level) \
if (level > analogJNILogLevel) ; \
else Log().Get(level)
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: initializeAnalogPort
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogPort
(JNIEnv * env, jclass, jobject id, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ANALOGJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** analogPtr = (void**)new unsigned char[4];
*analogPtr = initializeAnalogPort(*javaId, statusPtr);
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *analogPtr;
return env->NewDirectByteBuffer( analogPtr, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: checkAnalogModule
* Signature: (B)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogModule
(JNIEnv *, jclass, jbyte value)
{
//ANALOGJNI_LOG(logDEBUG) << "Module = " << (jint)value;
jbyte returnValue = checkAnalogModule( value );
//ANALOGJNI_LOG(logDEBUG) << "checkAnalogModuleResult = " << (jint)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: checkAnalogChannel
* Signature: (I)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_checkAnalogChannel
(JNIEnv *, jclass, jint value)
{
//ANALOGJNI_LOG(logDEBUG) << "Channel = " << value;
jbyte returnValue = checkAnalogChannel( value );
//ANALOGJNI_LOG(logDEBUG) << "checkAnalogChannelResult = " << (jint)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: setAnalogSampleRate
* Signature: (DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogSampleRate
(JNIEnv * env, jclass, jdouble value, jobject status)
{
ANALOGJNI_LOG(logDEBUG) << "SampleRate = " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
setAnalogSampleRate( value, statusPtr );
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAnalogSampleRate
* Signature: (Ljava/nio/IntBuffer;)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogSampleRate
(JNIEnv * env, jclass, jobject status)
{
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
double returnValue = getAnalogSampleRate( statusPtr );
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ANALOGJNI_LOG(logDEBUG) << "SampleRate = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: setAnalogSampleRateWithModule
* Signature: (BDLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogSampleRateWithModule
(JNIEnv * env, jclass, jbyte module, jdouble value, jobject status)
{
ANALOGJNI_LOG(logDEBUG) << "Module = " << (jint)module;
ANALOGJNI_LOG(logDEBUG) << "SampleRate = " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
setAnalogSampleRateWithModule( module, value, statusPtr );
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAnalogSampleRateWithModule
* Signature: (BLjava/nio/IntBuffer;)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogSampleRateWithModule
(JNIEnv * env, jclass, jbyte module, jobject status)
{
ANALOGJNI_LOG(logDEBUG) << "Module = " << (jint)module;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
double returnValue = getAnalogSampleRateWithModule( module, statusPtr );
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ANALOGJNI_LOG(logDEBUG) << "SampleRate = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: setAnalogAverageBits
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogAverageBits
(JNIEnv * env, jclass, jobject id, jint value, jobject status)
{
ANALOGJNI_LOG(logDEBUG) << "AverageBits = " << value;
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
setAnalogAverageBits( *javaId, value, statusPtr );
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAnalogAverageBits
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageBits
(JNIEnv * env, jclass, jobject id, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jint returnValue = getAnalogAverageBits( *javaId, statusPtr );
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ANALOGJNI_LOG(logDEBUG) << "AverageBits = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: setAnalogOversampleBits
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogOversampleBits
(JNIEnv * env, jclass, jobject id, jint value, jobject status)
{
ANALOGJNI_LOG(logDEBUG) << "OversampleBits = " << value;
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
setAnalogOversampleBits( *javaId, value, statusPtr );
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAnalogOversampleBits
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOversampleBits
(JNIEnv * env, jclass, jobject id, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jint returnValue = getAnalogOversampleBits( *javaId, statusPtr );
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ANALOGJNI_LOG(logDEBUG) << "OversampleBits = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAnalogValue
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)S
*/
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogValue
(JNIEnv * env, jclass, jobject id, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
//ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jshort returnValue = getAnalogValue( *javaId, statusPtr );
//ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
//ANALOGJNI_LOG(logDEBUG) << "Value = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAnalogAverageValue
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageValue
(JNIEnv * env, jclass, jobject id, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jint returnValue = getAnalogAverageValue( *javaId, statusPtr );
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ANALOGJNI_LOG(logDEBUG) << "AverageValue = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAnalogVoltsToValue
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogVoltsToValue
(JNIEnv * env, jclass, jobject id, jdouble voltageValue, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
ANALOGJNI_LOG(logDEBUG) << "VoltageValue = " << voltageValue;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jint returnValue = getAnalogVoltsToValue( *javaId, voltageValue, statusPtr );
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ANALOGJNI_LOG(logDEBUG) << "Value = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAnalogVoltage
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogVoltage
(JNIEnv * env, jclass, jobject id, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
//ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jdouble returnValue = getAnalogVoltage( *javaId, statusPtr );
//ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
//ANALOGJNI_LOG(logDEBUG) << "Voltage = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAnalogAverageVoltage
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogAverageVoltage
(JNIEnv * env, jclass, jobject id, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jdouble returnValue = getAnalogAverageVoltage( *javaId, statusPtr );
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ANALOGJNI_LOG(logDEBUG) << "AverageVoltage = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAnalogLSBWeight
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogLSBWeight
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAnalogOffset
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOffset
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: isAccumulatorChannel
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_isAccumulatorChannel
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: initAccumulator
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initAccumulator
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: resetAccumulator
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_resetAccumulator
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: setAccumulatorCenter
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorCenter
(JNIEnv *, jclass, jobject, jint, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: setAccumulatorDeadband
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAccumulatorDeadband
(JNIEnv *, jclass, jobject, jint, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAccumulatorValue
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)J
*/
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorValue
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAccumulatorCount
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorCount
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAccumulatorOutput
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/LongBuffer;Ljava/nio/IntBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorOutput
(JNIEnv *, jclass, jobject, jobject, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: initializeAnalogTrigger
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogTrigger
(JNIEnv *, jclass, jobject, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: cleanAnalogTrigger
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_cleanAnalogTrigger
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: setAnalogTriggerLimitsRaw
* Signature: (Ljava/nio/ByteBuffer;IILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerLimitsRaw
(JNIEnv *, jclass, jobject, jint, jint, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: setAnalogTriggerLimitsVoltage
* Signature: (Ljava/nio/ByteBuffer;DDLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerLimitsVoltage
(JNIEnv *, jclass, jobject, jdouble, jdouble, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: setAnalogTriggerAveraged
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerAveraged
(JNIEnv *, jclass, jobject, jbyte, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: setAnalogTriggerFiltered
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogTriggerFiltered
(JNIEnv *, jclass, jobject, jbyte, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAnalogTriggerInWindow
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerInWindow
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAnalogTriggerTriggerState
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerTriggerState
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAnalogTriggerOutput
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogTriggerOutput
(JNIEnv *, jclass, jobject, jint, jobject)
{
assert(false);
}

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wpilibj/wpilibJavaJNI/src/main/native/CANJNI.cpp Normal file
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#include <jni.h>
#include <assert.h>
#include "log.h"
#include "edu_wpi_first_wpilibj_can_CANJNI.h"
#include "HAL/CAN.h"
// set the logging level
TLogLevel canJNILogLevel = logDEBUG;
#define CANJNI_LOG(level) \
if (level > canJNILogLevel) ; \
else Log().Get(level)
/*
* Class: edu_wpi_first_wpilibj_can_CANJNI
* Method: FRCNetworkCommunicationJaguarCANDriverSendMessage
* Signature: (I[BBLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationJaguarCANDriverSendMessage
(JNIEnv *env, jclass, jint messageID, jobject data, jobject status)
{
CANJNI_LOG(logDEBUG) << "Calling CANJNI JaguarCANDriverSendMessage";
CANJNI_LOG(logDEBUG) << "MessageID = " << std::hex << messageID;
jbyte * dataPtr = NULL;
jlong dataCapacity = 0;
if(data != 0)
{
dataPtr = (jbyte*)env->GetDirectBufferAddress(data);
dataCapacity = env->GetDirectBufferCapacity(data);
}
CANJNI_LOG(logDEBUG) << "MessageSize = " << dataCapacity;
if( logDEBUG <= canJNILogLevel )
{
std::ostringstream str;
str << std::setfill('0') << std::hex;
for( int dataIndex = 0; dataIndex < dataCapacity; dataIndex++)
{
str << std::setw(2) << static_cast<unsigned int>(dataPtr[dataIndex]) << " ";
}
Log().Get(logDEBUG) << "MSG: " << str.str();
}
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
//CANJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
JaguarCANSendMessage((uint32_t) messageID, (const uint8_t*)dataPtr, (uint8_t)dataCapacity, statusPtr);
CANJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_can_CANJNI
* Method: FRCNetworkCommunicationJaguarCANDriverReceiveMessage
* Signature: (Ljava/nio/IntBuffer;Ljava/nio/ByteBuffer;Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationJaguarCANDriverReceiveMessage
(JNIEnv * env, jclass, jobject messageID, jint timeout, jobject status)
{
CANJNI_LOG(logDEBUG) << "Calling CANJNI JaguarCANDriverReceiveMessage";
jint * messageIDPtr = (jint*)env->GetDirectBufferAddress(messageID);
CANJNI_LOG(logDEBUG) << "MessageID In = " << std::hex << *messageIDPtr;
CANJNI_LOG(logDEBUG) << "Timeout = " << timeout;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
//CANJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
uint8_t dataSize = 8;
jbyte* dataPtr = new jbyte[8];
//CANJNI_LOG(logDEBUG) << "Original MessageSize = " << (jint)dataSize;
//CANJNI_LOG(logDEBUG) << "Original MessagePtr = " << (jint*)dataPtr;
JaguarCANReceiveMessage((uint32_t*)messageIDPtr, (uint8_t*)dataPtr, &dataSize, timeout, statusPtr);
//CANJNI_LOG(logDEBUG) << "MessageID Out = " << std::hex << *messageIDPtr;
CANJNI_LOG(logDEBUG) << "MessageSize = " << (jint)dataSize;
CANJNI_LOG(logDEBUG) << "MessagePtr = " << (jint*)dataPtr;
if( logDEBUG <= canJNILogLevel )
{
std::ostringstream str;
str << std::setfill('0') << std::hex;
for( int dataIndex = 0; dataIndex < dataSize; dataIndex++)
{
str << std::setw(2) << static_cast<unsigned int>(dataPtr[dataIndex]) << " ";
}
Log().Get(logDEBUG) << "MSG: " << str.str();
}
CANJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
if( dataSize > 0 )
{
return env->NewDirectByteBuffer( dataPtr, dataSize);
}
else
{
return 0;
}
}

471
wpilibj/wpilibJavaJNI/src/main/native/CounterJNI.cpp Normal file
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#include <jni.h>
#include <assert.h>
#include "log.h"
#include "edu_wpi_first_wpilibj_hal_CounterJNI.h"
#include "HAL/Digital.h"
// set the logging level
TLogLevel counterJNILogLevel = logDEBUG;
#define COUNTERJNI_LOG(level) \
if (level > counterJNILogLevel) ; \
else Log().Get(level)
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: initializeCounter
* Signature: (ILjava/nio/IntBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_initializeCounter
(JNIEnv * env, jclass, jint mode, jobject index, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI initializeCounter";
COUNTERJNI_LOG(logDEBUG) << "Mode = " << mode;
jint * indexPtr = (jint*)env->GetDirectBufferAddress(index);
COUNTERJNI_LOG(logDEBUG) << "Index Ptr = " << indexPtr;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** counterPtr = (void**)new unsigned char[4];
*counterPtr = initializeCounter((Mode)mode, (uint32_t*)indexPtr, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Index = " << *indexPtr;
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
COUNTERJNI_LOG(logDEBUG) << "COUNTER Ptr = " << *counterPtr;
return env->NewDirectByteBuffer( counterPtr, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: freeCounter
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_freeCounter
(JNIEnv * env, jclass, jobject id, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI freeCounter";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
freeCounter(*javaId, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: setCounterAverageSize
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterAverageSize
(JNIEnv * env, jclass, jobject id, jint value, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterAverageSize";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
COUNTERJNI_LOG(logDEBUG) << "AverageSize = " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setCounterAverageSize(*javaId, value, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: setCounterUpSourceWithModule
* Signature: (Ljava/nio/ByteBuffer;BIBLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpSourceWithModule
(JNIEnv * env, jclass, jobject id, jbyte module, jint pin, jbyte analogTrigger, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpSourceWithModule";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
COUNTERJNI_LOG(logDEBUG) << "Module = " << (jint)module;
COUNTERJNI_LOG(logDEBUG) << "Pin = " << pin;
COUNTERJNI_LOG(logDEBUG) << "AnalogTrigger = " << (jint)analogTrigger;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setCounterUpSourceWithModule(*javaId, module, pin, analogTrigger, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: setCounterUpSourceEdge
* Signature: (Ljava/nio/ByteBuffer;BBLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpSourceEdge
(JNIEnv * env, jclass, jobject id, jbyte valueRise, jbyte valueFall, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpSourceEdge";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
COUNTERJNI_LOG(logDEBUG) << "Rise = " << (jint)valueRise;
COUNTERJNI_LOG(logDEBUG) << "Fall = " << (jint)valueFall;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setCounterUpSourceEdge(*javaId, valueRise, valueFall, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: clearCounterUpSource
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_clearCounterUpSource
(JNIEnv * env, jclass, jobject id, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI clearCounterUpSource";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
clearCounterUpSource(*javaId, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: setCounterDownSourceWithModule
* Signature: (Ljava/nio/ByteBuffer;BIBLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterDownSourceWithModule
(JNIEnv * env, jclass, jobject id, jbyte module, jint pin, jbyte analogTrigger, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterDownSourceWithModule";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
COUNTERJNI_LOG(logDEBUG) << "Module = " << (jint)module;
COUNTERJNI_LOG(logDEBUG) << "Pin = " << pin;
COUNTERJNI_LOG(logDEBUG) << "AnalogTrigger = " << (jint)analogTrigger;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setCounterDownSourceWithModule(*javaId, module, pin, analogTrigger, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: setCounterDownSourceEdge
* Signature: (Ljava/nio/ByteBuffer;BBLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterDownSourceEdge
(JNIEnv * env, jclass, jobject id, jbyte valueRise, jbyte valueFall, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterDownSourceEdge";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
COUNTERJNI_LOG(logDEBUG) << "Rise = " << (jint)valueRise;
COUNTERJNI_LOG(logDEBUG) << "Fall = " << (jint)valueFall;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setCounterDownSourceEdge(*javaId, valueRise, valueFall, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: clearCounterDownSource
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_clearCounterDownSource
(JNIEnv * env, jclass, jobject id, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI clearCounterDownSource";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
clearCounterDownSource(*javaId, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: setCounterUpDownMode
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpDownMode
(JNIEnv * env, jclass, jobject id, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpDownMode";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setCounterUpDownMode(*javaId, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: setCounterExternalDirectionMode
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterExternalDirectionMode
(JNIEnv * env, jclass, jobject id, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterExternalDirectionMode";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setCounterExternalDirectionMode(*javaId, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: setCounterSemiPeriodMode
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterSemiPeriodMode
(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterSemiPeriodMode";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
COUNTERJNI_LOG(logDEBUG) << "SemiPeriodMode = " << (jint)value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setCounterSemiPeriodMode(*javaId, value, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: setCounterPulseLengthMode
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterPulseLengthMode
(JNIEnv * env, jclass, jobject id, jdouble value, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterPulseLengthMode";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
COUNTERJNI_LOG(logDEBUG) << "PulseLengthMode = " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setCounterPulseLengthMode(*javaId, value, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: getCounterSamplesToAverage
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterSamplesToAverage
(JNIEnv * env, jclass, jobject id, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterSamplesToAverage";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jint returnValue = getCounterSamplesToAverage(*javaId, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
COUNTERJNI_LOG(logDEBUG) << "getCounterSamplesToAverageResult = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: setCounterSamplesToAverage
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterSamplesToAverage
(JNIEnv * env, jclass, jobject id, jint value, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterSamplesToAverage";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
COUNTERJNI_LOG(logDEBUG) << "SamplesToAverage = " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setCounterSamplesToAverage(*javaId, value, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: startCounter
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_startCounter
(JNIEnv * env, jclass, jobject id, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI startCounter";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
startCounter(*javaId, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: stopCounter
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_stopCounter
(JNIEnv * env, jclass, jobject id, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI stopCounter";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
stopCounter(*javaId, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: resetCounter
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_resetCounter
(JNIEnv * env, jclass, jobject id, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI resetCounter";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
resetCounter(*javaId, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: getCounter
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounter
(JNIEnv * env, jclass, jobject id, jobject status)
{
//COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounter";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
//COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
//COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jint returnValue = getCounter(*javaId, statusPtr);
//COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
//COUNTERJNI_LOG(logDEBUG) << "getCounterResult = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: getCounterPeriod
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterPeriod
(JNIEnv *env, jclass, jobject id, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterPeriod";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jdouble returnValue = getCounterPeriod(*javaId, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
COUNTERJNI_LOG(logDEBUG) << "getCounterPeriodResult = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: setCounterMaxPeriod
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterMaxPeriod
(JNIEnv * env, jclass, jobject id, jdouble value, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterMaxPeriod";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
COUNTERJNI_LOG(logDEBUG) << "MaxPeriod = " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setCounterMaxPeriod(*javaId, value, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: setCounterUpdateWhenEmpty
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpdateWhenEmpty
(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterMaxPeriod";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
COUNTERJNI_LOG(logDEBUG) << "UpdateWhenEmpty = " << (jint)value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setCounterUpdateWhenEmpty(*javaId, value, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: getCounterStopped
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterStopped
(JNIEnv * env, jclass, jobject id, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterStopped";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jbyte returnValue = getCounterStopped(*javaId, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
COUNTERJNI_LOG(logDEBUG) << "getCounterStoppedResult = " << (jint)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: getCounterDirection
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterDirection
(JNIEnv * env, jclass, jobject id, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterDirection";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jbyte returnValue = getCounterDirection(*javaId, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
COUNTERJNI_LOG(logDEBUG) << "getCounterDirectionResult = " << (jint)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
* Method: setCounterReverseDirection
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterReverseDirection
(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
{
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterReverseDirection";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
COUNTERJNI_LOG(logDEBUG) << "Counter Ptr = " << *javaId;
COUNTERJNI_LOG(logDEBUG) << "ReverseDirection = " << (jint)value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
COUNTERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setCounterReverseDirection(*javaId, value, statusPtr);
COUNTERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}

212
wpilibj/wpilibJavaJNI/src/main/native/DIOJNI.cpp Normal file
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@@ -0,0 +1,212 @@
#include <jni.h>
#include <assert.h>
#include "log.h"
#include "edu_wpi_first_wpilibj_hal_DIOJNI.h"
#include "HAL/Digital.h"
// set the logging level
TLogLevel dioJNILogLevel = logDEBUG;
#define DIOJNI_LOG(level) \
if (level > dioJNILogLevel) ; \
else Log().Get(level)
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: initializeDigitalPort
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDigitalPort
(JNIEnv * env, jclass, jobject id, jobject status)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI initializeDigitalPort";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** dioPtr = (void**)new unsigned char[4];
*dioPtr = initializeDigitalPort(*javaId, statusPtr);
DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
DIOJNI_LOG(logDEBUG) << "DIO Ptr = " << *dioPtr;
return env->NewDirectByteBuffer( dioPtr, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: allocateDIO
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_allocateDIO
(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI allocateDIO";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jbyte returnValue = allocateDIO(*javaId, value, statusPtr);
DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
DIOJNI_LOG(logDEBUG) << "allocateDIOResult = " << (jint)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: freeDIO
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDIO
(JNIEnv * env, jclass, jobject id, jobject status)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDIO";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
freeDIO(*javaId, statusPtr);
DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: setDIO
* Signature: (Ljava/nio/ByteBuffer;SLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIO
(JNIEnv *env, jclass, jobject id, jshort value, jobject status)
{
//DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDIO";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
//DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
//DIOJNI_LOG(logDEBUG) << "Value = " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
//DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setDIO(*javaId, value, statusPtr);
//DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: getDIO
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIO
(JNIEnv * env, jclass, jobject id, jobject status)
{
//DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIO";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
//DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
//DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jbyte returnValue = getDIO(*javaId, statusPtr);
//DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
//DIOJNI_LOG(logDEBUG) << "getDIOResult = " << (jint)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: getDIODirection
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIODirection
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: checkDigitalModule
* Signature: (B)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_checkDigitalModule
(JNIEnv *, jclass, jbyte value)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI checkDigitalModule";
DIOJNI_LOG(logDEBUG) << "Module = " << (jint)value;
jbyte returnValue = checkDigitalModule( value );
DIOJNI_LOG(logDEBUG) << "checkDigitalModuleResult = " << (jint)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: pulse
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_pulse
(JNIEnv *, jclass, jobject, jdouble, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: isPulsing
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_isPulsing
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: isAnyPulsing
* Signature: (Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_isAnyPulsing
(JNIEnv *, jclass, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: isAnyPulsingWithModule
* Signature: (BLjava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_isAnyPulsingWithModule
(JNIEnv *, jclass, jbyte, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: getLoopTiming
* Signature: (Ljava/nio/IntBuffer;)S
*/
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getLoopTiming
(JNIEnv * env, jclass, jobject status)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getLoopTimeing";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jshort returnValue = getLoopTiming( statusPtr );
DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
DIOJNI_LOG(logDEBUG) << "LoopTiming = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: getLoopTimingWithModule
* Signature: (BLjava/nio/IntBuffer;)S
*/
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getLoopTimingWithModule
(JNIEnv *, jclass, jbyte, jobject)
{
assert(false);
}

259
wpilibj/wpilibJavaJNI/src/main/native/EncoderJNI.cpp Normal file
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#include <jni.h>
#include <assert.h>
#include "log.h"
#include "edu_wpi_first_wpilibj_hal_EncoderJNI.h"
#include "HAL/Digital.h"
// set the logging level
TLogLevel encoderJNILogLevel = logDEBUG;
#define ENCODERJNI_LOG(level) \
if (level > encoderJNILogLevel) ; \
else Log().Get(level)
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: initializeEncoder
* Signature: (BIBBIBBLjava/nio/IntBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder
(JNIEnv * env, jclass, jbyte port_a_module, jint port_a_pin, jbyte port_a_analog_trigger, jbyte port_b_module, jint port_b_pin, jbyte port_b_analog_trigger, jbyte reverseDirection, jobject index, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI initializeEncoder";
ENCODERJNI_LOG(logDEBUG) << "Module A = " << (jint)port_a_module;
ENCODERJNI_LOG(logDEBUG) << "Pin A = " << port_a_pin;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger A = " << (jint)port_a_analog_trigger;
ENCODERJNI_LOG(logDEBUG) << "Module B = " << (jint)port_b_module;
ENCODERJNI_LOG(logDEBUG) << "Pin B = " << port_b_pin;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger B = " << (jint)port_b_analog_trigger;
ENCODERJNI_LOG(logDEBUG) << "Reverse direction = " << (jint)reverseDirection;
jint * indexPtr = (jint*)env->GetDirectBufferAddress(index);
ENCODERJNI_LOG(logDEBUG) << "Index Ptr = " << indexPtr;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** encoderPtr = (void**)new unsigned char[4];
*encoderPtr = initializeEncoder(port_a_module, port_a_pin, port_a_analog_trigger,
port_b_module, port_b_pin, port_b_analog_trigger,
reverseDirection, indexPtr, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Index = " << *indexPtr;
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ENCODERJNI_LOG(logDEBUG) << "ENCODER Ptr = " << *encoderPtr;
return env->NewDirectByteBuffer( encoderPtr, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: freeEncoder
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_freeEncoder
(JNIEnv * env, jclass, jobject id, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI freeEncoder";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
freeEncoder(*javaId, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: startEncoder
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_startEncoder
(JNIEnv * env, jclass, jobject id, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI startEncoder";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
startEncoder(*javaId, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: stopEncoder
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_stopEncoder
(JNIEnv * env, jclass, jobject id, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI stopEncoder";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
stopEncoder(*javaId, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: resetEncoder
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_resetEncoder
(JNIEnv * env, jclass, jobject id, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI resetEncoder";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
resetEncoder(*javaId, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: getEncoder
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoder
(JNIEnv * env, jclass, jobject id, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoder";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jint returnValue = getEncoder(*javaId, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ENCODERJNI_LOG(logDEBUG) << "getEncoderResult = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: getEncoderPeriod
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderPeriod
(JNIEnv * env, jclass, jobject id, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderPeriod";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
double returnValue = getEncoderPeriod(*javaId, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ENCODERJNI_LOG(logDEBUG) << "getEncoderPeriodResult = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: setEncoderMaxPeriod
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMaxPeriod
(JNIEnv * env, jclass, jobject id, jdouble value, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderMaxPeriod";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setEncoderMaxPeriod(*javaId, value, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: getEncoderStopped
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderStopped
(JNIEnv * env, jclass, jobject id, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderStopped";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jbyte returnValue = getEncoderStopped(*javaId, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ENCODERJNI_LOG(logDEBUG) << "getEncoderStoppedResult = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: getEncoderDirection
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDirection
(JNIEnv * env, jclass, jobject id, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderDirection";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jbyte returnValue = getEncoderDirection(*javaId, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ENCODERJNI_LOG(logDEBUG) << "getEncoderDirectionResult = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: setEncoderReverseDirection
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderReverseDirection
(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderReverseDirection";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setEncoderReverseDirection(*javaId, value, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: setEncoderSamplesToAverage
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderSamplesToAverage
(JNIEnv * env, jclass, jobject id, jint value, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderSamplesToAverage";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setEncoderSamplesToAverage(*javaId, value, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: getEncoderSamplesToAverage
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderSamplesToAverage
(JNIEnv * env, jclass, jobject id, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jint returnValue = getEncoderSamplesToAverage(*javaId, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = " << returnValue;
return returnValue;
}

706
wpilibj/wpilibJavaJNI/src/main/native/FRCNetworkCommunicationsLibrary.cpp Normal file
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#include <jni.h>
#include <assert.h>
#include "log.h"
#include "edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary.h"
#include "HAL/HAL.h"
//#include "NetworkCommunication/FRCComm.h"
//#include "NetworkCommunication/UsageReporting.h"
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_nAICalibration_getLSBWeight
* Signature: (IILjava/lang/Integer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationAICalibrationGetLSBWeight
(JNIEnv *, jclass, jint, jint, jobject)
{
assert(false);
return 0;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_nAICalibration_getOffset
* Signature: (IILjava/lang/Integer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationAICalibrationGetOffset
(JNIEnv *, jclass, jint, jint, jobject)
{
assert(false);
return 0;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: getModulePresence
* Signature: (IB)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getModulePresence
(JNIEnv *, jclass, jint, jbyte)
{
assert(false);
return 0;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: getTargetClass
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getTargetClass
(JNIEnv *, jclass)
{
assert(false);
return 0;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_nLoadOut_getModulePresence
* Signature: (IB)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationLoadOutGetModulePresence
(JNIEnv *, jclass, jint, jbyte)
{
assert(false);
return 0;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_nLoadOut_getTargetClass
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationLoadOutGetTargetClass
(JNIEnv *, jclass)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: report
* Signature: (IBBLjava/lang/String;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_report
(JNIEnv *, jclass, jint, jbyte, jbyte, jstring)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_nUsageReporting_report
* Signature: (BBBLjava/lang/String;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationUsageReportingReport
(JNIEnv * paramEnv, jclass, jbyte paramResource, jbyte paramInstanceNumber, jbyte paramContext, jstring paramFeature)
{
FILE_LOG(logDEBUG) << "Calling FRCNetworkCommunicationsLibrary report " << "res:"<< (unsigned int)paramResource << " instance:" << (unsigned int)paramInstanceNumber << " context:" << (unsigned int)paramContext << " feature:" << paramFeature;
const char * featureStr = paramEnv->GetStringUTFChars(paramFeature, NULL);
jint returnValue = HALReport(paramResource, paramInstanceNumber, paramContext, featureStr);
paramEnv->ReleaseStringUTFChars(paramFeature,featureStr);
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: getFPGAHardwareVersion
* Signature: (Ljava/nio/ShortBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getFPGAHardwareVersion
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
//
// field ids
//
bool initializeComplete = false;
jclass dataClass;
jfieldID packetIndexFieldID;
jfieldID controlFieldID;
jfieldID dsDigitalInFieldID;
jfieldID teamIDFieldID;
jfieldID dsID_AllianceFieldID;
jfieldID dsID_PositionFieldID;
jfieldID stick0AxesFieldID;
jfieldID stick0ButtonsFieldID;
jfieldID stick1AxesFieldID;
jfieldID stick1ButtonsFieldID;
jfieldID stick2AxesFieldID;
jfieldID stick2ButtonsFieldID;
jfieldID stick3AxesFieldID;
jfieldID stick3ButtonsFieldID;
jfieldID analog1FieldID;
jfieldID analog2FieldID;
jfieldID analog3FieldID;
jfieldID analog4FieldID;
jfieldID cRIOChecksumFieldID;
jfieldID FPGAChecksum0FieldID;
jfieldID FPGAChecksum1FieldID;
jfieldID FPGAChecksum2FieldID;
jfieldID FPGAChecksum3FieldID;
jfieldID versionDataFieldID;
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: getCommonControlData
* Signature: (Ledu/wpi/first/wpilibj/communication/FRCCommonControlData;I)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getCommonControlData
(JNIEnv * env, jclass, jobject controlData)
{
HALCommonControlData controlDataNative;
controlDataNative.packetIndex = 0xFF;
controlDataNative.control = 0xFF;
int returnValue = HALGetCommonControlData(&controlDataNative, HAL_WAIT_FOREVER);
//FILE_LOG(logDEBUG) << "PacketIndex: " << (void*)controlDataNative.packetIndex << " Control: " << (void*)controlDataNative.control << " ReturnValue: " << (void*)returnValue;
if(!initializeComplete)
{
// control data class
dataClass = (jclass)env->NewGlobalRef(env->GetObjectClass(controlData));
//dataClass = env->GetObjectClass(controlData);
// public short packetIndex;
packetIndexFieldID = env->GetFieldID(dataClass, "packetIndex", "S" );
// public byte control;
controlFieldID = env->GetFieldID(dataClass, "control", "B" );
// public byte dsDigitalIn;
dsDigitalInFieldID = env->GetFieldID(dataClass, "dsDigitalIn", "B" );
// public short teamID;
teamIDFieldID = env->GetFieldID(dataClass, "teamID", "S" );
// public byte dsID_Alliance;
dsID_AllianceFieldID = env->GetFieldID(dataClass, "dsID_Alliance", "B" );
// public byte dsID_Position;
dsID_PositionFieldID = env->GetFieldID(dataClass, "dsID_Position", "B" );
// public byte[] stick0Axes;
stick0AxesFieldID = env->GetFieldID(dataClass, "stick0Axes", "[B" );
// public short stick0Buttons;
stick0ButtonsFieldID = env->GetFieldID(dataClass, "stick0Buttons", "S" );
// public byte[] stick1Axes;
stick1AxesFieldID = env->GetFieldID(dataClass, "stick1Axes", "[B" );
// public short stick1Buttons;
stick1ButtonsFieldID = env->GetFieldID(dataClass, "stick1Buttons", "S" );
// public byte[] stick2Axes;
stick2AxesFieldID = env->GetFieldID(dataClass, "stick2Axes", "[B" );
// public short stick2Buttons;
stick2ButtonsFieldID = env->GetFieldID(dataClass, "stick2Buttons", "S" );
// public byte[] stick3Axes;
stick3AxesFieldID = env->GetFieldID(dataClass, "stick3Axes", "[B" );
// public short stick3Buttons;
stick3ButtonsFieldID = env->GetFieldID(dataClass, "stick3Buttons", "S" );
// public short analog1;
analog1FieldID = env->GetFieldID(dataClass, "analog1", "S" );
// public short analog2;
analog2FieldID = env->GetFieldID(dataClass, "analog2", "S" );
// public short analog3;
analog3FieldID = env->GetFieldID(dataClass, "analog3", "S" );
// public short analog4;
analog4FieldID = env->GetFieldID(dataClass, "analog4", "S" );
// public long cRIOChecksum;
cRIOChecksumFieldID = env->GetFieldID(dataClass, "cRIOChecksum", "J" );
// public int FPGAChecksum0;
FPGAChecksum0FieldID = env->GetFieldID(dataClass, "FPGAChecksum0", "I" );
// public int FPGAChecksum1;
FPGAChecksum1FieldID = env->GetFieldID(dataClass, "FPGAChecksum1", "I" );
// public int FPGAChecksum2;
FPGAChecksum2FieldID = env->GetFieldID(dataClass, "FPGAChecksum2", "I" );
// public int FPGAChecksum3;
FPGAChecksum3FieldID = env->GetFieldID(dataClass, "FPGAChecksum3", "I" );
// public byte[] versionData;
versionDataFieldID = env->GetFieldID(dataClass, "versionData", "[B" );
initializeComplete = true;
}
//FILE_LOG(logDEBUG) << "PacketIndex : " << (short)controlDataNative.packetIndex;
env->SetShortField(controlData,packetIndexFieldID, controlDataNative.packetIndex);
//FILE_LOG(logDEBUG) << "Control : " << (short)controlDataNative.control;
env->SetByteField(controlData,controlFieldID, controlDataNative.control);
env->SetByteField(controlData,dsDigitalInFieldID, controlDataNative.dsDigitalIn);
env->SetShortField(controlData,teamIDFieldID, controlDataNative.teamID);
env->SetByteField(controlData,dsID_AllianceFieldID, controlDataNative.dsID_Alliance);
env->SetByteField(controlData,dsID_PositionFieldID, controlDataNative.dsID_Position);
// process the axes for joystick 0
jobject stick0Axes = env->GetObjectField(controlData, stick0AxesFieldID);
jbyteArray * stick0AxesPtr = reinterpret_cast<jbyteArray*>(&stick0Axes);
jbyte * stick0AxesBytePtr = env->GetByteArrayElements(*stick0AxesPtr,NULL);
for( short axisCount = 0; axisCount < 6; axisCount++)
{
stick0AxesBytePtr[axisCount]=controlDataNative.stick0Axes[axisCount];
}
env->ReleaseByteArrayElements(*stick0AxesPtr,stick0AxesBytePtr,0);
// /** C type : field2_union */
// public field2_union field2;
// /** Left-most 4 bits are unused */
env->SetShortField(controlData,stick0ButtonsFieldID, controlDataNative.stick0Buttons);
// process the axes for joystick 1
jobject stick1Axes = env->GetObjectField(controlData, stick1AxesFieldID);
jbyteArray * stick1AxesPtr = reinterpret_cast<jbyteArray*>(&stick1Axes);
jbyte * stick1AxesBytePtr = env->GetByteArrayElements(*stick1AxesPtr,NULL);
for( short axisCount = 0; axisCount < 6; axisCount++)
{
stick1AxesBytePtr[axisCount]=controlDataNative.stick1Axes[axisCount];
}
env->ReleaseByteArrayElements(*stick1AxesPtr,stick1AxesBytePtr,0);
// /** C type : field3_union */
// public field3_union field3;
// /** Left-most 4 bits are unused */
env->SetShortField(controlData,stick1ButtonsFieldID, controlDataNative.stick1Buttons);
// process the axes for joystick 2
jobject stick2Axes = env->GetObjectField(controlData, stick2AxesFieldID);
jbyteArray * stick2AxesPtr = reinterpret_cast<jbyteArray*>(&stick2Axes);
jbyte * stick2AxesBytePtr = env->GetByteArrayElements(*stick2AxesPtr,NULL);
for( short axisCount = 0; axisCount < 6; axisCount++)
{
stick2AxesBytePtr[axisCount]=controlDataNative.stick2Axes[axisCount];
}
env->ReleaseByteArrayElements(*stick2AxesPtr,stick2AxesBytePtr,0);
// /** C type : field4_union */
// public field4_union field4;
// /** Left-most 4 bits are unused */
env->SetShortField(controlData,stick2ButtonsFieldID, controlDataNative.stick2Buttons);
// process the axes for joystick 3
jobject stick3Axes = env->GetObjectField(controlData, stick3AxesFieldID);
jbyteArray * stick3AxesPtr = reinterpret_cast<jbyteArray*>(&stick3Axes);
jbyte * stick3AxesBytePtr = env->GetByteArrayElements(*stick3AxesPtr,NULL);
for( short axisCount = 0; axisCount < 6; axisCount++)
{
stick3AxesBytePtr[axisCount]=controlDataNative.stick3Axes[axisCount];
}
env->ReleaseByteArrayElements(*stick3AxesPtr,stick3AxesBytePtr,0);
// /** C type : field5_union */
// public field5_union field5;
// /** Left-most 4 bits are unused */
env->SetShortField(controlData,stick3ButtonsFieldID, controlDataNative.stick3Buttons);
// /** Analog inputs are 10 bit right-justified */
env->SetShortField(controlData,analog1FieldID, controlDataNative.analog1);
env->SetShortField(controlData,analog2FieldID, controlDataNative.analog2);
env->SetShortField(controlData,analog3FieldID, controlDataNative.analog3);
env->SetShortField(controlData,analog4FieldID, controlDataNative.analog4);
env->SetLongField(controlData,cRIOChecksumFieldID, controlDataNative.cRIOChecksum);
env->SetIntField(controlData,FPGAChecksum0FieldID, controlDataNative.FPGAChecksum0);
env->SetIntField(controlData,FPGAChecksum1FieldID, controlDataNative.FPGAChecksum1);
env->SetIntField(controlData,FPGAChecksum2FieldID, controlDataNative.FPGAChecksum2);
env->SetIntField(controlData,FPGAChecksum3FieldID, controlDataNative.FPGAChecksum3);
// /** C type : char[8] */
// public byte[] versionData;
jobject versionData = env->GetObjectField(controlData, versionDataFieldID);
jbyteArray * versionDataPtr = reinterpret_cast<jbyteArray*>(&versionData);
jbyte * versionDataBytePtr = env->GetByteArrayElements(*versionDataPtr,NULL);
for( short byteCount = 0; byteCount < 8; byteCount++)
{
versionDataBytePtr[byteCount]=controlDataNative.versionData[byteCount];
}
env->ReleaseByteArrayElements(*versionDataPtr,versionDataBytePtr,0);
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: getRecentCommonControlData
* Signature: (Ledu/wpi/first/wpilibj/communication/FRCCommonControlData;I)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getRecentCommonControlData
(JNIEnv *, jclass, jobject, jint)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: getRecentStatusData
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/ByteBuffer;Ljava/nio/ByteBuffer;I)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getRecentStatusData
(JNIEnv *, jclass, jobject, jobject, jobject, jint)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: getDynamicControlData
* Signature: (BLjava/nio/ByteBuffer;II)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getDynamicControlData
(JNIEnv *, jclass, jbyte, jobject, jint, jint)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: setStatusData
* Signature: (FBBLjava/lang/String;ILjava/lang/String;II)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setStatusData
(JNIEnv * env, jclass, jfloat paramBattery, jbyte param1, jbyte param2, jstring paramUserDataHigh, jint param4, jstring paramUserDataLow, jint param6)
{
//FILE_LOG(logDEBUG) << "Voltage - " << paramBattery;
const char * userDataHighStr = env->GetStringUTFChars(paramUserDataHigh, NULL);
const char * userDataLowStr = env->GetStringUTFChars(paramUserDataLow, NULL);
jint returnValue = HALSetStatusData(paramBattery, param1, param2, userDataHighStr, param4, userDataLowStr, param6, HAL_WAIT_FOREVER );
env->ReleaseStringUTFChars(paramUserDataHigh,userDataHighStr);
env->ReleaseStringUTFChars(paramUserDataLow,userDataLowStr);
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: setStatusDataFloatAsInt
* Signature: (IBBLjava/lang/String;ILjava/lang/String;II)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setStatusDataFloatAsInt
(JNIEnv *, jclass, jint, jbyte, jbyte, jstring, jint, jstring, jint, jint)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: setErrorData
* Signature: (Ljava/lang/String;II)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setErrorData
(JNIEnv *, jclass, jstring, jint, jint)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: setUserDsLcdData
* Signature: (Ljava/lang/String;II)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setUserDsLcdData
(JNIEnv *, jclass, jstring, jint, jint)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: overrideIOConfig
* Signature: (Ljava/lang/String;I)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_overrideIOConfig
(JNIEnv *, jclass, jstring, jint)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: signalResyncActionDone
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_signalResyncActionDone
(JNIEnv *, jclass)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: setNewDataOccurRef
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setNewDataOccurRef
(JNIEnv *, jclass, jint)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: setResyncOccurRef
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setResyncOccurRef
(JNIEnv *, jclass, jint)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_getVersionString
* Signature: (Ljava/nio/ByteBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationGetVersionString
(JNIEnv *, jclass, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_observeUserProgramStarting
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramStarting
(JNIEnv *, jclass)
{
HALNetworkCommunicationObserveUserProgramStarting();
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_observeUserProgramDisabled
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramDisabled
(JNIEnv *, jclass)
{
HALNetworkCommunicationObserveUserProgramDisabled();
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_observeUserProgramAutonomous
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramAutonomous
(JNIEnv *, jclass)
{
HALNetworkCommunicationObserveUserProgramAutonomous();
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_observeUserProgramTeleop
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTeleop
(JNIEnv *, jclass)
{
HALNetworkCommunicationObserveUserProgramTeleop();
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_observeUserProgramTest
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTest
(JNIEnv *, jclass)
{
HALNetworkCommunicationObserveUserProgramTest();
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: FRCNetworkCommunicationReserve
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationReserve
(JNIEnv *, jclass)
{
HALNetworkCommunicationReserve();
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: setNewDataSem
* Signature: ([B)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setNewDataSem
(JNIEnv * env, jclass, jobject id )
{
MUTEX_ID* javaId = (MUTEX_ID*)env->GetDirectBufferAddress(id);
FILE_LOG(logDEBUG) << "Mutex Ptr = " << *javaId;
HALSetNewDataSem(*javaId);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIValueParameterTest
* Signature: (ZBCSIJFD)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueParameterTest
(JNIEnv *, jclass, jboolean booleanParam, jbyte byteParam, jchar charParam, jshort shortParam, jint intParam, jlong longParam, jfloat floatParam, jdouble doubleParam)
{
FILE_LOG(logDEBUG) << "Boolean: " << booleanParam;
FILE_LOG(logDEBUG) << "Byte : " << byteParam;
FILE_LOG(logDEBUG) << "Char : " << charParam;
FILE_LOG(logDEBUG) << "Short : " << shortParam;
FILE_LOG(logDEBUG) << "Int : " << intParam;
FILE_LOG(logDEBUG) << "Long : " << longParam;
FILE_LOG(logDEBUG) << "Float : " << floatParam;
FILE_LOG(logDEBUG) << "Double : " << doubleParam;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIValueReturnBooleanTest
* Signature: (Z)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnBooleanTest
(JNIEnv *, jclass, jboolean booleanParam )
{
FILE_LOG(logDEBUG) << "Boolean: " << booleanParam;
return !booleanParam;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIValueReturnByteTest
* Signature: (B)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnByteTest
(JNIEnv *, jclass, jbyte byteParam)
{
FILE_LOG(logDEBUG) << "Byte: " << byteParam;
return byteParam+1;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIValueReturnCharTest
* Signature: (C)C
*/
JNIEXPORT jchar JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnCharTest
(JNIEnv *, jclass, jchar charParam)
{
FILE_LOG(logDEBUG) << "Char: " << charParam;
return charParam+1;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIValueReturnShortTest
* Signature: (S)S
*/
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnShortTest
(JNIEnv *, jclass, jshort shortParam)
{
FILE_LOG(logDEBUG) << "Short: " << shortParam;
return shortParam+1;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIValueReturnIntTest
* Signature: (I)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnIntTest
(JNIEnv *, jclass, jint intParam)
{
FILE_LOG(logDEBUG) << "Int: " << intParam;
return intParam+1;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIValueReturnLongTest
* Signature: (J)J
*/
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnLongTest
(JNIEnv *, jclass, jlong longParam)
{
FILE_LOG(logDEBUG) << "Long: " << longParam;
return longParam+1;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIValueReturnFloatTest
* Signature: (F)F
*/
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnFloatTest
(JNIEnv *, jclass, jfloat floatParam)
{
FILE_LOG(logDEBUG) << "Float: " << floatParam;
return floatParam/100.0f;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIValueReturnDoubleTest
* Signature: (D)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnDoubleTest
(JNIEnv *, jclass, jdouble doubleParam)
{
FILE_LOG(logDEBUG) << "Double: " << doubleParam;
return doubleParam * 100.0;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIObjectReturnString
* Signature: (Ljava/lang/String;)Ljava/lang/String;
*/
JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIObjectReturnStringTest
(JNIEnv * env, jclass, jstring stringParam)
{
const char * stringParamLocal = env->GetStringUTFChars(stringParam, NULL);
FILE_LOG(logDEBUG) << "String: " << stringParamLocal;
env->ReleaseStringUTFChars(stringParam,stringParamLocal);
char returnStringLocal[] = "this is the return string";
return env->NewStringUTF(returnStringLocal);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIObjectReturnByteBufferTest
* Signature: (Ljava/nio/ByteBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIObjectReturnByteBufferTest
(JNIEnv * env, jclass, jobject byteArrayIn )
{
jbyte * byteArray = (jbyte*)env->GetDirectBufferAddress(byteArrayIn);
FILE_LOG(logDEBUG) << "Ptr: " << (long)byteArray;
jlong byteArrayLength = env->GetDirectBufferCapacity(byteArrayIn);
FILE_LOG(logDEBUG) << "Capacity: " << byteArrayLength;
FILE_LOG(logDEBUG) << "Byte0: " << (short)byteArray[0];
FILE_LOG(logDEBUG) << "Byte1: " << (short)byteArray[1];
FILE_LOG(logDEBUG) << "Byte2: " << (short)byteArray[2];
FILE_LOG(logDEBUG) << "Byte3: " << (short)byteArray[3];
jbyte * returnByteArray = new jbyte[4];
returnByteArray[0] = byteArray[0];
returnByteArray[1] = byteArray[1];
returnByteArray[2] = byteArray[2];
returnByteArray[3] = byteArray[3];
return env->NewDirectByteBuffer(returnByteArray, 4);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIObjectAndParamReturnIntBufferTest
* Signature: (Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIObjectAndParamReturnIntBufferTest
(JNIEnv * env, jclass, jobject intArrayIn)
{
jint * intArray = (jint*)env->GetDirectBufferAddress(intArrayIn);
jbyte * byteArray = (jbyte*)env->GetDirectBufferAddress(intArrayIn);
FILE_LOG(logDEBUG) << "Ptr: " << (long)intArray;
jlong byteArrayLength = env->GetDirectBufferCapacity(intArrayIn);
FILE_LOG(logDEBUG) << "Capacity: " << byteArrayLength;
FILE_LOG(logDEBUG) << "Int0: " << intArray[0];
FILE_LOG(logDEBUG) << "Byte0: " << (short)byteArray[0];
FILE_LOG(logDEBUG) << "Byte1: " << (short)byteArray[1];
FILE_LOG(logDEBUG) << "Byte2: " << (short)byteArray[2];
FILE_LOG(logDEBUG) << "Byte3: " << (short)byteArray[3];
// increment the param
intArray[0]++;
jbyte * returnByteArray = new jbyte[4];
returnByteArray[0] = byteArray[0];
returnByteArray[1] = byteArray[1];
returnByteArray[2] = byteArray[2];
returnByteArray[3] = byteArray[3];
return env->NewDirectByteBuffer(returnByteArray, 4);
}

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wpilibj/wpilibJavaJNI/src/main/native/HALUtil.cpp Normal file
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#include <jni.h>
#include <assert.h>
#include "log.h"
#include "edu_wpi_first_wpilibj_hal_HALUtil.h"
#include "HAL/HAL.h"
// set the logging level
TLogLevel halUtilLogLevel = logDEBUG;
#define HALUTIL_LOG(level) \
if (level > halUtilLogLevel) ; \
else Log().Get(level)
//
// indicate JNI version support desired
//
JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved)
{
// set our logging level
Log::ReportingLevel() = logDEBUG;
return JNI_VERSION_1_6;
}
/*
* Class: edu_wpi_first_wpilibj_hal_HALUtil
* Method: initializeMutex
* Signature: (I)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_initializeMutexNormal
(JNIEnv * env, jclass)
{
HALUTIL_LOG(logDEBUG) << "Calling HALUtil initializeMutex";
MUTEX_ID* mutexPtr = (MUTEX_ID*)new unsigned char[4];
*mutexPtr = initializeMutexNormal();
HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << *mutexPtr;
return env->NewDirectByteBuffer( mutexPtr, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_HALUtil
* Method: deleteMutex
* Signature: (Ljava/nio/ByteBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_deleteMutex
(JNIEnv * env, jclass, jobject id )
{
HALUTIL_LOG(logDEBUG) << "Calling HALUtil deleteMutex";
MUTEX_ID* javaId = (MUTEX_ID*)env->GetDirectBufferAddress(id);
HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << *javaId;
deleteMutex( *javaId );
}
/*
* Class: edu_wpi_first_wpilibj_hal_HALUtil
* Method: takeMutex
* Signature: (Ljava/nio/ByteBuffer;I)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_takeMutex
(JNIEnv * env, jclass, jobject id)
{
//HALUTIL_LOG(logDEBUG) << "Calling HALUtil takeMutex";
MUTEX_ID* javaId = (MUTEX_ID*)env->GetDirectBufferAddress(id);
//HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << *javaId;
jbyte returnValue = takeMutex(*javaId);
//HALUTIL_LOG(logDEBUG) << "Take Result = " << (void*)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_HALUtil
* Method: getFPGAVersion
* Signature: (Ljava/nio/IntBuffer;)S
*/
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAVersion
(JNIEnv * env, jclass, jobject status)
{
HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGAVersion";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jshort returnValue = getFPGAVersion( statusPtr );
HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
HALUTIL_LOG(logDEBUG) << "FPGAVersion = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_HALUtil
* Method: getFPGARevision
* Signature: (Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGARevision
(JNIEnv * env, jclass, jobject status)
{
HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGARevision";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jint returnValue = getFPGARevision( statusPtr );
HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
HALUTIL_LOG(logDEBUG) << "FPGARevision = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_HALUtil
* Method: getFPGATime
* Signature: (Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGATime
(JNIEnv * env, jclass, jobject status)
{
//HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jlong returnValue = getFPGATime( statusPtr );
//HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
//HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_HALUtil
* Method: getHALErrorMessage
* Signature: (I)Ljava/lang/String;
*/
JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrorMessage
(JNIEnv * paramEnv, jclass, jint paramId)
{
const char * msg = getHALErrorMessage(paramId);
HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALErrorMessage id=" << paramId << " msg=" << msg;
return paramEnv->NewStringUTF(msg);
}

35
wpilibj/wpilibJavaJNI/src/main/native/I2CJNI.cpp Normal file
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#include <jni.h>
#include <assert.h>
#include "log.h"
#include "edu_wpi_first_wpilibj_hal_I2CJNI.h"
// set the logging level
TLogLevel i2cJNILogLevel = logDEBUG;
#define I2CJNI_LOG(level) \
if (level > i2cJNILogLevel) ; \
else Log().Get(level)
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: doI2CTransaction
* Signature: (BBLjava/nio/ByteBuffer;BLjava/nio/ByteBuffer;BLjava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_doI2CTransaction
(JNIEnv *, jclass, jbyte, jbyte, jobject, jbyte, jobject, jbyte, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: doI2CTransactionWithModule
* Signature: (BBBLjava/nio/ByteBuffer;BLjava/nio/ByteBuffer;BLjava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_doI2CTransactionWithModule
(JNIEnv *, jclass, jbyte, jbyte, jbyte, jobject, jbyte, jobject, jbyte, jobject)
{
assert(false);
}

113
wpilibj/wpilibJavaJNI/src/main/native/InterruptJNI.cpp Normal file
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#include <jni.h>
#include <assert.h>
#include "log.h"
#include "edu_wpi_first_wpilibj_hal_InterruptJNI.h"
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: initializeInterrupts
* Signature: (IBLjava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeInterrupts
(JNIEnv *, jclass, jint, jbyte, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: cleanInterrupts
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_cleanInterrupts
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: waitForInterrupt
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterrupt
(JNIEnv *, jclass, jobject, jdouble, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: enableInterrupts
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_enableInterrupts
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: disableInterrupts
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterrupts
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: readInterruptTimestamp
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterruptTimestamp
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: requestInterrupts
* Signature: (Ljava/nio/ByteBuffer;BIBLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_requestInterrupts
(JNIEnv *, jclass, jobject, jbyte, jint, jbyte, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: attachInterruptHandler
* Signature: (Ljava/nio/ByteBuffer;Ledu/wpi/first/wpilibj/hal/InterruptJNI/InterruptHandlerFunction;Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler
(JNIEnv *, jclass, jobject, jobject, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: setInterruptUpSourceEdge
* Signature: (Ljava/nio/ByteBuffer;BBLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_setInterruptUpSourceEdge
(JNIEnv *, jclass, jobject, jbyte, jbyte, jobject)
{
assert(false);
}

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wpilibj/wpilibJavaJNI/src/main/native/JNIWrapper.cpp Normal file
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#include <jni.h>
#include <assert.h>
#include "log.h"
#include "edu_wpi_first_wpilibj_hal_JNIWrapper.h"
#include "HAL/HAL.h"
/*
* Class: edu_wpi_first_wpilibj_hal_JNIWrapper
* Method: getPortWithModule
* Signature: (BB)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_JNIWrapper_getPortWithModule
(JNIEnv * env, jclass, jbyte module, jbyte pin)
{
//FILE_LOG(logDEBUG) << "Calling JNIWrapper getPortWithModlue";
//FILE_LOG(logDEBUG) << "Module = " << (jint)module;
//FILE_LOG(logDEBUG) << "Pin = " << (jint)pin;
void** portPtr = (void**)new unsigned char[4];
*portPtr = getPortWithModule(module,pin);
//FILE_LOG(logDEBUG) << "Port Ptr = " << *portPtr;
return env->NewDirectByteBuffer( portPtr, 4);
}

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wpilibj/wpilibJavaJNI/src/main/native/PWMJNI.cpp Normal file
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#include <jni.h>
#include <assert.h>
#include "log.h"
#include "edu_wpi_first_wpilibj_hal_PWMJNI.h"
#include "HAL/Digital.h"
// set the logging level
TLogLevel pwmJNILogLevel = logERROR;
#define PWMJNI_LOG(level) \
if (level > pwmJNILogLevel) ; \
else Log().Get(level)
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWM
* Signature: (Ljava/nio/ByteBuffer;SLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWM
(JNIEnv * env, jclass, jobject id, jshort value, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "DigitalPort Ptr = " << *javaId;
PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
setPWM( *javaId, value, statusPtr );
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: getPWM
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)S
*/
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWM
(JNIEnv * env, jclass, jobject id, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jshort returnValue = getPWM( *javaId, statusPtr );
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMPeriodScale
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPeriodScale
(JNIEnv * env, jclass, jobject id, jint value, jobject status )
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "DigitalPort Ptr = " << *javaId;
PWMJNI_LOG(logDEBUG) << "PeriodScale Value = " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
setPWMPeriodScale( *javaId, value, statusPtr );
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: allocatePWM
* Signature: (Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_allocatePWM
(JNIEnv * env, jclass, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI allocatePWM";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** pwmPtr = (void**)new unsigned char[4];
*pwmPtr = allocatePWM(statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *pwmPtr;
return env->NewDirectByteBuffer( pwmPtr, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: allocatePWMWithModule
* Signature: (BLjava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_allocatePWMWithModule
(JNIEnv * env, jclass, jbyte module, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI allocatePWMWithModule";
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** pwmPtr = (void**)new unsigned char[4];
*pwmPtr = allocatePWMWithModule(module, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *pwmPtr;
return env->NewDirectByteBuffer( pwmPtr, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: freePWM
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWM
(JNIEnv * env, jclass, jobject id, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWM";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
freePWM(*javaId, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: freePWMWithModule
* Signature: (BLjava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWMWithModule
(JNIEnv * env, jclass, jbyte module, jobject id, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWMWithModule";
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
freePWMWithModule(module, *javaId, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMRate
* Signature: (DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRate
(JNIEnv * env, jclass, jdouble value, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMRate";
PWMJNI_LOG(logDEBUG) << "Rate= " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setPWMRate(value, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMRateWithModule
* Signature: (BDLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRateWithModule
(JNIEnv * env, jclass, jbyte module, jdouble value, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMRateWithModule";
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
PWMJNI_LOG(logDEBUG) << "Rate= " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setPWMRateWithModule(module, value, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMDutyCycle
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDutyCycle
(JNIEnv * env, jclass, jobject id, jdouble value, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMDutyCycle";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
PWMJNI_LOG(logDEBUG) << "DutyCycle= " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setPWMDutyCycle(*javaId, value, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMDutyCycleWithModule
* Signature: (BLjava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDutyCycleWithModule
(JNIEnv * env, jclass, jbyte module, jobject id, jdouble value, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMDutyCycleWithModule";
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
PWMJNI_LOG(logDEBUG) << "DutyCycle= " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setPWMDutyCycleWithModule( module, *javaId, value, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMOutputChannel
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMOutputChannel
(JNIEnv * env, jclass, jobject id, jint value, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMOutputChannel";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
PWMJNI_LOG(logDEBUG) << "Pin= " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setPWMOutputChannel(*javaId, (uint32_t) value, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMOutputChannelWithModule
* Signature: (BLjava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMOutputChannelWithModule
(JNIEnv * env, jclass, jbyte module, jobject id, jint value, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMOutputChannelWithModule";
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
PWMJNI_LOG(logDEBUG) << "Pin= " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setPWMOutputChannelWithModule( module, *javaId, (uint32_t) value, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}

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wpilibj/wpilibJavaJNI/src/main/native/RelayJNI.cpp Normal file
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#include <jni.h>
#include <assert.h>
#include "log.h"
#include "edu_wpi_first_wpilibj_hal_RelayJNI.h"
#include "HAL/Digital.h"
// set the logging level
TLogLevel relayJNILogLevel = logDEBUG;
#define RELAYJNI_LOG(level) \
if (level > relayJNILogLevel) ; \
else Log().Get(level)
/*
* Class: edu_wpi_first_wpilibj_hal_RelayJNI
* Method: setRelayForward
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_setRelayForward
(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
{
RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI setRelayForward";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
RELAYJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
RELAYJNI_LOG(logDEBUG) << "Flag = " << (jint)value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
RELAYJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setRelayForward(*javaId, value, statusPtr);
RELAYJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_RelayJNI
* Method: setRelayReverse
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_setRelayReverse
(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
{
RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI setRelayReverse";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
RELAYJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
RELAYJNI_LOG(logDEBUG) << "Flag = " << (jint)value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
RELAYJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setRelayReverse(*javaId, value, statusPtr);
RELAYJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_RelayJNI
* Method: getRelayForward
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_getRelayForward
(JNIEnv * env, jclass, jobject id, jobject status)
{
RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI getRelayForward";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
RELAYJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
RELAYJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jbyte returnValue = getRelayForward(*javaId, statusPtr);
RELAYJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
RELAYJNI_LOG(logDEBUG) << "getRelayForwardResult = " << (jint)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_RelayJNI
* Method: getRelayReverse
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_getRelayReverse
(JNIEnv * env, jclass, jobject id, jobject status)
{
RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI getRelayReverse";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
RELAYJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
RELAYJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jbyte returnValue = getRelayReverse(*javaId, statusPtr);
RELAYJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
RELAYJNI_LOG(logDEBUG) << "getRelayReverseResult = " << (jint)returnValue;
return returnValue;
}

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wpilibj/wpilibJavaJNI/src/main/native/SPIJNI.cpp Normal file
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#include <jni.h>
#include <assert.h>
#include "log.h"
#include "edu_wpi_first_wpilibj_hal_SPIJNI.h"
// set the logging level
TLogLevel spiJNILogLevel = logDEBUG;
#define SPIJNI_LOG(level) \
if (level > spiJNILogLevel) ; \
else Log().Get(level)
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: initializeSPI
* Signature: (BIBIBILjava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_initializeSPI
(JNIEnv *, jclass, jbyte, jint, jbyte, jint, jbyte, jint, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: cleanSPI
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_cleanSPI
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: setSPIBitsPerWord
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPIBitsPerWord
(JNIEnv *, jclass, jobject, jint, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: getSPIBitsPerWord
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_getSPIBitsPerWord
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: setSPIClockRate
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPIClockRate
(JNIEnv *, jclass, jobject, jdouble, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: setSPIMSBFirst
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPIMSBFirst
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: setSPILSBFirst
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPILSBFirst
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: setSPISampleDataOnFalling
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPISampleDataOnFalling
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: setSPISampleDataOnRising
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPISampleDataOnRising
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: setSPISlaveSelect
* Signature: (Ljava/nio/ByteBuffer;BILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPISlaveSelect
(JNIEnv *, jclass, jobject, jbyte, jint, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: setSPILatchMode
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPILatchMode
(JNIEnv *, jclass, jobject, jint, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: getSPILatchMode
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_getSPILatchMode
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: setSPIFramePolarity
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPIFramePolarity
(JNIEnv *, jclass, jobject, jbyte, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: getSPIFramePolarity
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_getSPIFramePolarity
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: setSPIClockActiveLow
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPIClockActiveLow
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: setSPIClockActiveHigh
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_setSPIClockActiveHigh
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: applySPIConfig
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_applySPIConfig
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: getSPIOutputFIFOAvailable
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)S
*/
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_getSPIOutputFIFOAvailable
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: getSPINumReceived
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)S
*/
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_getSPINumReceived
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: isSPIDone
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_isSPIDone
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: hadSPIReceiveOverflow
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_hadSPIReceiveOverflow
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: writeSPI
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_writeSPI
(JNIEnv *, jclass, jobject, jint, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: readSPI
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_readSPI
(JNIEnv *, jclass, jobject, jbyte, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: resetSPI
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_resetSPI
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
* Method: clearSPIReceivedData
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_clearSPIReceivedData
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}

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wpilibj/wpilibJavaJNI/src/main/native/WatchdogJNI.cpp Normal file
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#include <jni.h>
#include <assert.h>
#include "log.h"
#include "edu_wpi_first_wpilibj_hal_WatchdogJNI.h"
#include "HAL/Watchdog.h"
// set the logging level
TLogLevel watchdogJNILogLevel = logDEBUG;
#define WATCHDOGJNI_LOG(level) \
if (level > watchdogJNILogLevel) ; \
else Log().Get(level)
/*
* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
* Method: initializeWatchdog
* Signature: (Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_initializeWatchdog
(JNIEnv * env, jclass, jobject status)
{
WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog initializeWatchdog";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
WATCHDOGJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jlong statusCapacity = env->GetDirectBufferCapacity(status);
WATCHDOGJNI_LOG(logDEBUG) << "Status Capacity = " << statusCapacity;
void** watchdogPtr = (void**)new unsigned char[4];
*watchdogPtr = initializeWatchdog(statusPtr);
WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *watchdogPtr;
return env->NewDirectByteBuffer( watchdogPtr, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
* Method: cleanWatchdog
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_cleanWatchdog
(JNIEnv * env, jclass, jobject id, jobject status)
{
WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog cleanWatchdog";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
cleanWatchdog( *javaId, statusPtr );
WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
* Method: feedWatchdog
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_feedWatchdog
(JNIEnv * env, jclass, jobject id, jobject status )
{
WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog feedWatchdog";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jbyte returnValue = feedWatchdog( *javaId, statusPtr );
WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
WATCHDOGJNI_LOG(logDEBUG) << "feedWatchdog return = " << (short)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
* Method: killWatchdog
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_killWatchdog
(JNIEnv * env, jclass, jobject id, jobject status)
{
WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog killWatchdog";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
killWatchdog( *javaId, statusPtr );
WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
* Method: getWatchdogLastFed
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_getWatchdogLastFed
(JNIEnv * env, jclass, jobject id, jobject status)
{
WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog getWatchdogLastFed";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
double returnValue = getWatchdogLastFed( *javaId, statusPtr );
WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
WATCHDOGJNI_LOG(logDEBUG) << "LastFed = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
* Method: getWatchdogExpiration
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_getWatchdogExpiration
(JNIEnv * env, jclass, jobject id, jobject status)
{
WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog getWatchdogExpiration";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
double returnValue = getWatchdogExpiration( *javaId, statusPtr );
WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
WATCHDOGJNI_LOG(logDEBUG) << "Expiration = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
* Method: setWatchdogExpiration
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_setWatchdogExpiration
(JNIEnv * env, jclass, jobject id, jdouble value, jobject status)
{
WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog setWatchdogExpiration";
WATCHDOGJNI_LOG(logDEBUG) << "Expiration = " << value;
void ** javaId = (void**)env->GetDirectBufferAddress(id);
WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
setWatchdogExpiration( *javaId, value, statusPtr );
WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
* Method: getWatchdogEnabled
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_getWatchdogEnabled
(JNIEnv * env, jclass, jobject id, jobject status)
{
WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog getWatchdogEnabled";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jbyte returnValue = getWatchdogEnabled( *javaId, statusPtr );
WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
WATCHDOGJNI_LOG(logDEBUG) << "Enabled = " << (short)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
* Method: setWatchdogEnabled
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_setWatchdogEnabled
(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
{
WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog setWatchdogEnabled";
WATCHDOGJNI_LOG(logDEBUG) << "Enabled = " << (short)value;
void ** javaId = (void**)env->GetDirectBufferAddress(id);
WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
setWatchdogEnabled( *javaId, value, statusPtr );
WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
* Method: isWatchdogAlive
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_isWatchdogAlive
(JNIEnv * env, jclass, jobject id, jobject status)
{
WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog isWatchdogAlive";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jbyte returnValue = isWatchdogAlive( *javaId, statusPtr );
WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
WATCHDOGJNI_LOG(logDEBUG) << "IsAlive = " << (short)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_WatchdogJNI
* Method: isWatchdogSystemActive
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_WatchdogJNI_isWatchdogSystemActive
(JNIEnv * env, jclass, jobject id, jobject status)
{
WATCHDOGJNI_LOG(logDEBUG) << "Calling Watchdog isWatchdogSystemActive";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
WATCHDOGJNI_LOG(logDEBUG) << "Watchdog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jbyte returnValue = isWatchdogSystemActive( *javaId, statusPtr );
WATCHDOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
WATCHDOGJNI_LOG(logDEBUG) << "IsActive = " << (short)returnValue;
return returnValue;
}