mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
JNI implementation for Java
Normal vs
This commit is contained in:
charris
259
wpilibj/wpilibJavaJNI/src/main/native/EncoderJNI.cpp
Normal file
259
wpilibj/wpilibJavaJNI/src/main/native/EncoderJNI.cpp
Normal file
@@ -0,0 +1,259 @@
|
||||
#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;
|
||||
}
|
||||
Reference in New Issue
Block a user