mirror of
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
319
wpilibj/src/main/native/cpp/SerialPortJNI.cpp
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319
wpilibj/src/main/native/cpp/SerialPortJNI.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_SerialPortJNI.h"
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#include "HAL/SerialPort.h"
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#include "HALUtil.h"
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using namespace frc;
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// set the logging level
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TLogLevel serialJNILogLevel = logWARNING;
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#define SERIALJNI_LOG(level) \
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if (level > serialJNILogLevel) \
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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_SerialPortJNI
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* Method: serialInitializePort
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* Signature: (B)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialInitializePort(
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JNIEnv* env, jclass, jbyte port) {
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SERIALJNI_LOG(logDEBUG) << "Calling Serial Initialize";
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SERIALJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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HAL_InitializeSerialPort(static_cast<HAL_SerialPort>(port), &status);
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SERIALJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatusForceThrow(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
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* Method: serialSetBaudRate
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* Signature: (BI)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetBaudRate(
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JNIEnv* env, jclass, jbyte port, jint rate) {
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SERIALJNI_LOG(logDEBUG) << "Setting Serial Baud Rate";
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SERIALJNI_LOG(logDEBUG) << "Baud: " << rate;
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int32_t status = 0;
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HAL_SetSerialBaudRate(static_cast<HAL_SerialPort>(port), rate, &status);
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SERIALJNI_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_SerialPortJNI
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* Method: serialSetDataBits
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* Signature: (BB)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetDataBits(
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JNIEnv* env, jclass, jbyte port, jbyte bits) {
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SERIALJNI_LOG(logDEBUG) << "Setting Serial Data Bits";
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SERIALJNI_LOG(logDEBUG) << "Data Bits: " << bits;
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int32_t status = 0;
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HAL_SetSerialDataBits(static_cast<HAL_SerialPort>(port), bits, &status);
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SERIALJNI_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_SerialPortJNI
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* Method: serialSetParity
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* Signature: (BB)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetParity(
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JNIEnv* env, jclass, jbyte port, jbyte parity) {
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SERIALJNI_LOG(logDEBUG) << "Setting Serial Parity";
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SERIALJNI_LOG(logDEBUG) << "Parity: " << parity;
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int32_t status = 0;
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HAL_SetSerialParity(static_cast<HAL_SerialPort>(port), parity, &status);
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SERIALJNI_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_SerialPortJNI
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* Method: serialSetStopBits
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* Signature: (BB)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetStopBits(
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JNIEnv* env, jclass, jbyte port, jbyte bits) {
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SERIALJNI_LOG(logDEBUG) << "Setting Serial Stop Bits";
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SERIALJNI_LOG(logDEBUG) << "Stop Bits: " << bits;
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int32_t status = 0;
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HAL_SetSerialStopBits(static_cast<HAL_SerialPort>(port), bits, &status);
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SERIALJNI_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_SerialPortJNI
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* Method: serialSetWriteMode
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* Signature: (BB)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetWriteMode(
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JNIEnv* env, jclass, jbyte port, jbyte mode) {
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SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Mode";
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SERIALJNI_LOG(logDEBUG) << "Write mode: " << mode;
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int32_t status = 0;
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HAL_SetSerialWriteMode(static_cast<HAL_SerialPort>(port), mode, &status);
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SERIALJNI_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_SerialPortJNI
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* Method: serialSetFlowControl
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* Signature: (BB)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetFlowControl(
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JNIEnv* env, jclass, jbyte port, jbyte flow) {
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SERIALJNI_LOG(logDEBUG) << "Setting Serial Flow Control";
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SERIALJNI_LOG(logDEBUG) << "Flow Control: " << flow;
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int32_t status = 0;
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HAL_SetSerialFlowControl(static_cast<HAL_SerialPort>(port), flow, &status);
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SERIALJNI_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_SerialPortJNI
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* Method: serialSetTimeout
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* Signature: (BD)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetTimeout(
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JNIEnv* env, jclass, jbyte port, jdouble timeout) {
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SERIALJNI_LOG(logDEBUG) << "Setting Serial Timeout";
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SERIALJNI_LOG(logDEBUG) << "Timeout: " << timeout;
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int32_t status = 0;
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HAL_SetSerialTimeout(static_cast<HAL_SerialPort>(port), timeout, &status);
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SERIALJNI_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_SerialPortJNI
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* Method: serialEnableTermination
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* Signature: (BC)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialEnableTermination(
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JNIEnv* env, jclass, jbyte port, jchar terminator) {
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SERIALJNI_LOG(logDEBUG) << "Setting Serial Enable Termination";
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SERIALJNI_LOG(logDEBUG) << "Terminator: " << terminator;
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int32_t status = 0;
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HAL_EnableSerialTermination(static_cast<HAL_SerialPort>(port), terminator, &status);
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SERIALJNI_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_SerialPortJNI
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* Method: serialDisableTermination
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* Signature: (B)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialDisableTermination(
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JNIEnv* env, jclass, jbyte port) {
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SERIALJNI_LOG(logDEBUG) << "Setting Serial Disable termination";
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int32_t status = 0;
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HAL_DisableSerialTermination(static_cast<HAL_SerialPort>(port), &status);
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SERIALJNI_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_SerialPortJNI
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* Method: serialSetReadBufferSize
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* Signature: (BI)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetReadBufferSize(
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JNIEnv* env, jclass, jbyte port, jint size) {
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SERIALJNI_LOG(logDEBUG) << "Setting Serial Read Buffer Size";
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SERIALJNI_LOG(logDEBUG) << "Size: " << size;
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int32_t status = 0;
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HAL_SetSerialReadBufferSize(static_cast<HAL_SerialPort>(port), size, &status);
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SERIALJNI_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_SerialPortJNI
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* Method: serialSetWriteBufferSize
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* Signature: (BI)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetWriteBufferSize(
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JNIEnv* env, jclass, jbyte port, jint size) {
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SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Buffer Size";
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SERIALJNI_LOG(logDEBUG) << "Size: " << size;
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int32_t status = 0;
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HAL_SetSerialWriteBufferSize(static_cast<HAL_SerialPort>(port), size, &status);
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SERIALJNI_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_SerialPortJNI
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* Method: serialGetBytesRecieved
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* Signature: (B)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialGetBytesRecieved(
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JNIEnv* env, jclass, jbyte port) {
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SERIALJNI_LOG(logDEBUG) << "Serial Get Bytes Received";
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int32_t status = 0;
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jint retVal = HAL_GetSerialBytesReceived(static_cast<HAL_SerialPort>(port), &status);
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SERIALJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
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* Method: serialRead
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* Signature: (BLjava/nio/ByteBuffer;I)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialRead(
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JNIEnv* env, jclass, jbyte port, jobject dataReceived, jint size) {
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SERIALJNI_LOG(logDEBUG) << "Serial Read";
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jbyte* dataReceivedPtr = nullptr;
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dataReceivedPtr = (jbyte*)env->GetDirectBufferAddress(dataReceived);
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int32_t status = 0;
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jint retVal = HAL_ReadSerial(static_cast<HAL_SerialPort>(port), reinterpret_cast<char*>(dataReceivedPtr),
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size, &status);
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SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
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SERIALJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
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* Method: serialWrite
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* Signature: (BLjava/nio/ByteBuffer;I)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialWrite(
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JNIEnv* env, jclass, jbyte port, jobject dataToSend, jint size) {
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SERIALJNI_LOG(logDEBUG) << "Serial Write";
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jbyte* dataToSendPtr = nullptr;
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if (dataToSend != 0) {
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dataToSendPtr = (jbyte*)env->GetDirectBufferAddress(dataToSend);
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}
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int32_t status = 0;
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jint retVal = HAL_WriteSerial(static_cast<HAL_SerialPort>(port), reinterpret_cast<char*>(dataToSendPtr),
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size, &status);
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SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
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SERIALJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SerialPortJNI
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* Method: serialFlush
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* Signature: (B)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialFlush(
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JNIEnv* env, jclass, jbyte port) {
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SERIALJNI_LOG(logDEBUG) << "Serial Flush";
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int32_t status = 0;
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HAL_FlushSerial(static_cast<HAL_SerialPort>(port), &status);
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SERIALJNI_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_SerialPortJNI
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* Method: serialClear
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* Signature: (B)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialClear(
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JNIEnv* env, jclass, jbyte port) {
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SERIALJNI_LOG(logDEBUG) << "Serial Clear";
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int32_t status = 0;
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HAL_ClearSerial(static_cast<HAL_SerialPort>(port), &status);
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SERIALJNI_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_SerialPortJNI
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* Method: serialClose
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* Signature: (B)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialClose(
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JNIEnv* env, jclass, jbyte port) {
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SERIALJNI_LOG(logDEBUG) << "Serial Close";
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int32_t status = 0;
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HAL_CloseSerial(static_cast<HAL_SerialPort>(port), &status);
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SERIALJNI_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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