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https://github.com/wpilibsuite/allwpilib
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Update to 2018_v4 image and new build system. (#598)
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
273
wpilibj/src/main/native/cpp/DIOJNI.cpp
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273
wpilibj/src/main/native/cpp/DIOJNI.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <assert.h>
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#include <jni.h>
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#include "HAL/cpp/Log.h"
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#include "edu_wpi_first_wpilibj_hal_DIOJNI.h"
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#include "HAL/DIO.h"
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#include "HAL/PWM.h"
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#include "HALUtil.h"
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#include "HAL/Ports.h"
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#include "HAL/handles/HandlesInternal.h"
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using namespace frc;
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// set the logging level
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TLogLevel dioJNILogLevel = logWARNING;
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#define DIOJNI_LOG(level) \
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if (level > dioJNILogLevel) \
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; \
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else \
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Log().Get(level)
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extern "C" {
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: initializeDIOPort
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* Signature: (IZ)I;
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDIOPort(
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JNIEnv *env, jclass, jint id, jboolean input) {
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI initializeDIOPort";
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DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
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DIOJNI_LOG(logDEBUG) << "Input = " << (jint)input;
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int32_t status = 0;
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auto dio = HAL_InitializeDIOPort((HAL_PortHandle)id, (uint8_t)input, &status);
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DIOJNI_LOG(logDEBUG) << "Status = " << status;
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DIOJNI_LOG(logDEBUG) << "DIO Handle = " << dio;
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CheckStatusRange(env, status, 0, HAL_GetNumDigitalChannels(),
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hal::getPortHandleChannel((HAL_PortHandle)id));
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return (jint)dio;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: checkDIOChannel
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* Signature: (I)Z;
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_checkDIOChannel(
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JNIEnv *env, jclass, jint channel) {
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI checkDIOChannel";
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DIOJNI_LOG(logDEBUG) << "Channel = " << channel;
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return HAL_CheckDIOChannel(channel);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: freeDIOPort
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* Signature: (I)V;
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDIOPort(
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JNIEnv *env, jclass, jint id) {
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDIOPort";
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DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
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HAL_FreeDIOPort((HAL_DigitalHandle)id);
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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: (IS)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, jint id, jshort value) {
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// DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDIO";
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// DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
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// DIOJNI_LOG(logDEBUG) << "Value = " << value;
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int32_t status = 0;
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HAL_SetDIO((HAL_DigitalHandle)id, value, &status);
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// DIOJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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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: (J)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIO(JNIEnv *env, jclass, jint id) {
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// DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIO";
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// DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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jboolean returnValue = HAL_GetDIO((HAL_DigitalHandle)id, &status);
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// DIOJNI_LOG(logDEBUG) << "Status = " << status;
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// DIOJNI_LOG(logDEBUG) << "getDIOResult = " << (jint)returnValue;
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CheckStatus(env, status);
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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: (J)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIODirection(
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JNIEnv *env, jclass, jint id) {
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIODirection (RR upd)";
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// DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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jboolean returnValue = HAL_GetDIODirection((HAL_DigitalHandle)id, &status);
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// DIOJNI_LOG(logDEBUG) << "Status = " << status;
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DIOJNI_LOG(logDEBUG) << "getDIODirectionResult = " << (jint)returnValue;
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CheckStatus(env, status);
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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: (JD)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 *env, jclass, jint id, jdouble value) {
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI pulse (RR upd)";
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// DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
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// DIOJNI_LOG(logDEBUG) << "Value = " << value;
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int32_t status = 0;
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HAL_Pulse((HAL_DigitalHandle)id, value, &status);
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DIOJNI_LOG(logDEBUG) << "Did it work? Status = " << status;
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CheckStatus(env, status);
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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: (J)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_DIOJNI_isPulsing(JNIEnv *env, jclass, jint id) {
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI isPulsing (RR upd)";
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// DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
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int32_t status = 0;
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jboolean returnValue = HAL_IsPulsing((HAL_DigitalHandle)id, &status);
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// DIOJNI_LOG(logDEBUG) << "Status = " << status;
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DIOJNI_LOG(logDEBUG) << "isPulsingResult = " << (jint)returnValue;
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CheckStatus(env, status);
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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: isAnyPulsing
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_DIOJNI_isAnyPulsing(JNIEnv *env, jclass) {
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI isAnyPulsing (RR upd)";
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int32_t status = 0;
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jboolean returnValue = HAL_IsAnyPulsing(&status);
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// DIOJNI_LOG(logDEBUG) << "Status = " << status;
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DIOJNI_LOG(logDEBUG) << "isAnyPulsingResult = " << (jint)returnValue;
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CheckStatus(env, status);
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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: getLoopTiming
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* Signature: ()S
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*/
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JNIEXPORT jshort JNICALL
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Java_edu_wpi_first_wpilibj_hal_DIOJNI_getLoopTiming(JNIEnv *env, jclass) {
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getLoopTimeing";
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int32_t status = 0;
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jshort returnValue = HAL_GetLoopTiming(&status);
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DIOJNI_LOG(logDEBUG) << "Status = " << status;
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DIOJNI_LOG(logDEBUG) << "LoopTiming = " << returnValue;
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CheckStatus(env, status);
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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: allocateDigitalPWM
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_DIOJNI_allocateDigitalPWM(JNIEnv* env, jclass) {
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI allocateDigitalPWM";
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int32_t status = 0;
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auto pwm = HAL_AllocateDigitalPWM(&status);
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DIOJNI_LOG(logDEBUG) << "Status = " << status;
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DIOJNI_LOG(logDEBUG) << "PWM Handle = " << pwm;
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CheckStatus(env, status);
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return (jint)pwm;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: freeDigitalPWM
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDigitalPWM(JNIEnv* env, jclass, jint id) {
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDigitalPWM";
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DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id;
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int32_t status = 0;
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HAL_FreeDigitalPWM((HAL_DigitalPWMHandle)id, &status);
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DIOJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: setDigitalPWMRate
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* Signature: (D)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMRate(
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JNIEnv* env, jclass, jdouble value) {
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMRate";
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DIOJNI_LOG(logDEBUG) << "Rate= " << value;
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int32_t status = 0;
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HAL_SetDigitalPWMRate(value, &status);
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DIOJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: setDigitalPWMDutyCycle
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* Signature: (ID)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMDutyCycle(
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JNIEnv* env, jclass, jint id, jdouble value) {
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMDutyCycle";
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DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id;
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DIOJNI_LOG(logDEBUG) << "DutyCycle= " << value;
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int32_t status = 0;
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HAL_SetDigitalPWMDutyCycle((HAL_DigitalPWMHandle)id, value, &status);
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DIOJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: setDigitalPWMOutputChannel
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDigitalPWMOutputChannel(
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JNIEnv* env, jclass, jint id, jint value) {
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMOutputChannel";
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DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id;
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DIOJNI_LOG(logDEBUG) << "Channel= " << value;
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int32_t status = 0;
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HAL_SetDigitalPWMOutputChannel((HAL_DigitalPWMHandle)id, (uint32_t)value, &status);
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DIOJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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} // extern "C"
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