From f5a292dadd26eaf194049ac3b82ccde0eaae5076 Mon Sep 17 00:00:00 2001
From: Thad House <ThadHouse@users.noreply.github.com>
Date: Mon, 12 Feb 2018 16:05:10 -0800
Subject: [PATCH] Adds TriState JNI entry point (#938)

Also adds missing sim TriState DIO HAL call, and a ToDo for later
---
 hal/src/main/native/sim/DIO.cpp                 | 17 +++++++++++++++++
 .../java/edu/wpi/first/wpilibj/hal/DIOJNI.java  |  3 +++
 wpilibj/src/main/native/cpp/DIOJNI.cpp          | 16 ++++++++++++++++
 3 files changed, 36 insertions(+)

diff --git a/hal/src/main/native/sim/DIO.cpp b/hal/src/main/native/sim/DIO.cpp
index 5c039276fb..2e08b8bcc6 100644
--- a/hal/src/main/native/sim/DIO.cpp
+++ b/hal/src/main/native/sim/DIO.cpp
@@ -198,6 +198,23 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
   SimDIOData[port->channel].SetValue(value);
 }
 
+/**
+ * Set direction of a DIO channel.
+ *
+ * @param channel The Digital I/O channel
+ * @param input true to set input, false for output
+ */
+void HAL_SetDIODirection(HAL_DigitalHandle dioPortHandle, HAL_Bool input,
+                         int32_t* status) {
+  auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  SimDIOData[port->channel].SetIsInput(input);
+}
+
 /**
  * Read a digital I/O bit from the FPGA.
  * Get a single value from a digital I/O channel.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/hal/DIOJNI.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/hal/DIOJNI.java
index c861621749..206addab09 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/hal/DIOJNI.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/hal/DIOJNI.java
@@ -15,8 +15,11 @@ public class DIOJNI extends JNIWrapper {
 
   public static native void freeDIOPort(int dioPortHandle);
 
+  // TODO(Thad): Switch this to use boolean
   public static native void setDIO(int dioPortHandle, short value);
 
+  public static native void setDIODirection(int dioPortHandle, boolean input);
+
   public static native boolean getDIO(int dioPortHandle);
 
   public static native boolean getDIODirection(int dioPortHandle);
diff --git a/wpilibj/src/main/native/cpp/DIOJNI.cpp b/wpilibj/src/main/native/cpp/DIOJNI.cpp
index 16048dfa08..95867c8d2e 100644
--- a/wpilibj/src/main/native/cpp/DIOJNI.cpp
+++ b/wpilibj/src/main/native/cpp/DIOJNI.cpp
@@ -90,6 +90,22 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIO(
   CheckStatus(env, status);
 }
 
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
+ * Method:    setDIODirection
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIODirection(
+  JNIEnv *env, jclass, jint id, jboolean input) {
+  // DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDIO";
+  // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
+  // DIOJNI_LOG(logDEBUG) << "IsInput = " << input;
+  int32_t status = 0;
+  HAL_SetDIODirection((HAL_DigitalHandle)id, input, &status);
+  // DIOJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_wpilibj_hal_DIOJNI
  * Method:    getDIO