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