mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
444 lines
16 KiB
C++
444 lines
16 KiB
C++
/*----------------------------------------------------------------------------*/
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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_CounterJNI.h"
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#include "HAL/Counter.h"
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#include "HAL/Errors.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 counterJNILogLevel = logWARNING;
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#define COUNTERJNI_LOG(level) \
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if (level > counterJNILogLevel) \
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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_CounterJNI
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* Method: initializeCounter
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* Signature: (ILjava/nio/IntBuffer;)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_CounterJNI_initializeCounter(
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JNIEnv* env, jclass, jint mode, jobject index) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI initializeCounter";
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COUNTERJNI_LOG(logDEBUG) << "Mode = " << mode;
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jint* indexPtr = (jint*)env->GetDirectBufferAddress(index);
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COUNTERJNI_LOG(logDEBUG) << "Index Ptr = " << (int32_t*)indexPtr;
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int32_t status = 0;
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auto counter = HAL_InitializeCounter((HAL_Counter_Mode)mode, (int32_t*)indexPtr, &status);
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COUNTERJNI_LOG(logDEBUG) << "Index = " << *indexPtr;
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COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
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COUNTERJNI_LOG(logDEBUG) << "COUNTER Handle = " << counter;
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CheckStatusForceThrow(env, status);
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return (jint)counter;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CounterJNI
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* Method: freeCounter
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_freeCounter(
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JNIEnv* env, jclass, jint id) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI freeCounter";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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int32_t status = 0;
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HAL_FreeCounter((HAL_CounterHandle)id, &status);
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COUNTERJNI_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_CounterJNI
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* Method: setCounterAverageSize
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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_CounterJNI_setCounterAverageSize(
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JNIEnv* env, jclass, jint id, jint value) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterAverageSize";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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COUNTERJNI_LOG(logDEBUG) << "AverageSize = " << value;
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int32_t status = 0;
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HAL_SetCounterAverageSize((HAL_CounterHandle)id, value, &status);
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COUNTERJNI_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_CounterJNI
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* Method: setCounterUpSource
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* Signature: (III)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpSource(
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JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
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jint analogTriggerType) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpSource";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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COUNTERJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle;
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COUNTERJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType;
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int32_t status = 0;
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HAL_SetCounterUpSource((HAL_CounterHandle)id, (HAL_Handle)digitalSourceHandle,
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(HAL_AnalogTriggerType)analogTriggerType, &status);
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COUNTERJNI_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_CounterJNI
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* Method: setCounterUpSourceEdge
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* Signature: (IZZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpSourceEdge(
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JNIEnv* env, jclass, jint id, jboolean valueRise, jboolean valueFall) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpSourceEdge";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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COUNTERJNI_LOG(logDEBUG) << "Rise = " << (jint)valueRise;
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COUNTERJNI_LOG(logDEBUG) << "Fall = " << (jint)valueFall;
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int32_t status = 0;
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HAL_SetCounterUpSourceEdge((HAL_CounterHandle)id, valueRise, valueFall, &status);
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COUNTERJNI_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_CounterJNI
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* Method: clearCounterUpSource
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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_CounterJNI_clearCounterUpSource(
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JNIEnv* env, jclass, jint id) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI clearCounterUpSource";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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int32_t status = 0;
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HAL_ClearCounterUpSource((HAL_CounterHandle)id, &status);
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COUNTERJNI_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_CounterJNI
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* Method: setCounterDownSource
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* Signature: (IIZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterDownSource(
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JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
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jint analogTriggerType) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterDownSource";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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COUNTERJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle;
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COUNTERJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType;
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int32_t status = 0;
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HAL_SetCounterDownSource((HAL_CounterHandle)id, (HAL_Handle)digitalSourceHandle,
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(HAL_AnalogTriggerType)analogTriggerType, &status);
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COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
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if (status == PARAMETER_OUT_OF_RANGE) {
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ThrowIllegalArgumentException(env,
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"Counter only supports DownSource in "
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"TwoPulse and ExternalDirection modes.");
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return;
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}
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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_CounterJNI
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* Method: setCounterDownSourceEdge
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* Signature: (IZZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterDownSourceEdge(
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JNIEnv* env, jclass, jint id, jboolean valueRise, jboolean valueFall) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterDownSourceEdge";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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COUNTERJNI_LOG(logDEBUG) << "Rise = " << (jint)valueRise;
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COUNTERJNI_LOG(logDEBUG) << "Fall = " << (jint)valueFall;
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int32_t status = 0;
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HAL_SetCounterDownSourceEdge((HAL_CounterHandle)id, valueRise, valueFall, &status);
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COUNTERJNI_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_CounterJNI
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* Method: clearCounterDownSource
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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_CounterJNI_clearCounterDownSource(
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JNIEnv* env, jclass, jint id) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI clearCounterDownSource";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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int32_t status = 0;
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HAL_ClearCounterDownSource((HAL_CounterHandle)id, &status);
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COUNTERJNI_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_CounterJNI
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* Method: setCounterUpDownMode
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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_CounterJNI_setCounterUpDownMode(
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JNIEnv* env, jclass, jint id) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpDownMode";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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int32_t status = 0;
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HAL_SetCounterUpDownMode((HAL_CounterHandle)id, &status);
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COUNTERJNI_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_CounterJNI
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* Method: setCounterExternalDirectionMode
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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_CounterJNI_setCounterExternalDirectionMode(
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JNIEnv* env, jclass, jint id) {
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COUNTERJNI_LOG(logDEBUG)
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<< "Calling COUNTERJNI setCounterExternalDirectionMode";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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int32_t status = 0;
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HAL_SetCounterExternalDirectionMode((HAL_CounterHandle)id, &status);
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COUNTERJNI_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_CounterJNI
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* Method: setCounterSemiPeriodMode
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* Signature: (IZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterSemiPeriodMode(
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JNIEnv* env, jclass, jint id, jboolean value) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterSemiPeriodMode";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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COUNTERJNI_LOG(logDEBUG) << "SemiPeriodMode = " << (jint)value;
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int32_t status = 0;
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HAL_SetCounterSemiPeriodMode((HAL_CounterHandle)id, value, &status);
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COUNTERJNI_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_CounterJNI
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* Method: setCounterPulseLengthMode
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* Signature: (ID)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterPulseLengthMode(
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JNIEnv* env, jclass, jint id, jdouble value) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterPulseLengthMode";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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COUNTERJNI_LOG(logDEBUG) << "PulseLengthMode = " << value;
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int32_t status = 0;
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HAL_SetCounterPulseLengthMode((HAL_CounterHandle)id, value, &status);
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COUNTERJNI_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_CounterJNI
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* Method: getCounterSamplesToAverage
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterSamplesToAverage(
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JNIEnv* env, jclass, jint id) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterSamplesToAverage";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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int32_t status = 0;
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jint returnValue = HAL_GetCounterSamplesToAverage((HAL_CounterHandle)id, &status);
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COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
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COUNTERJNI_LOG(logDEBUG) << "getCounterSamplesToAverageResult = "
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<< 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_CounterJNI
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* Method: setCounterSamplesToAverage
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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_CounterJNI_setCounterSamplesToAverage(
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JNIEnv* env, jclass, jint id, jint value) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterSamplesToAverage";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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COUNTERJNI_LOG(logDEBUG) << "SamplesToAverage = " << value;
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int32_t status = 0;
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HAL_SetCounterSamplesToAverage((HAL_CounterHandle)id, value, &status);
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COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
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if (status == PARAMETER_OUT_OF_RANGE) {
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ThrowBoundaryException(env, value, 1, 127);
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return;
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}
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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_CounterJNI
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* Method: resetCounter
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_resetCounter(
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JNIEnv* env, jclass, jint id) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI resetCounter";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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int32_t status = 0;
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HAL_ResetCounter((HAL_CounterHandle)id, &status);
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COUNTERJNI_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_CounterJNI
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* Method: getCounter
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounter(
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JNIEnv* env, jclass, jint id) {
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// COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounter";
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// COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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int32_t status = 0;
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jint returnValue = HAL_GetCounter((HAL_CounterHandle)id, &status);
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// COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
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// COUNTERJNI_LOG(logDEBUG) << "getCounterResult = " << 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_CounterJNI
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* Method: getCounterPeriod
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* Signature: (I)D
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*/
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JNIEXPORT jdouble JNICALL
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Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterPeriod(
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JNIEnv* env, jclass, jint id) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterPeriod";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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int32_t status = 0;
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jdouble returnValue = HAL_GetCounterPeriod((HAL_CounterHandle)id, &status);
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COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
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COUNTERJNI_LOG(logDEBUG) << "getCounterPeriodResult = " << 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_CounterJNI
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* Method: setCounterMaxPeriod
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* Signature: (ID)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterMaxPeriod(
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JNIEnv* env, jclass, jint id, jdouble value) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterMaxPeriod";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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COUNTERJNI_LOG(logDEBUG) << "MaxPeriod = " << value;
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int32_t status = 0;
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HAL_SetCounterMaxPeriod((HAL_CounterHandle)id, value, &status);
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COUNTERJNI_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_CounterJNI
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* Method: setCounterUpdateWhenEmpty
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* Signature: (IZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterUpdateWhenEmpty(
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JNIEnv* env, jclass, jint id, jboolean value) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterMaxPeriod";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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COUNTERJNI_LOG(logDEBUG) << "UpdateWhenEmpty = " << (jint)value;
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int32_t status = 0;
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HAL_SetCounterUpdateWhenEmpty((HAL_CounterHandle)id, value, &status);
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COUNTERJNI_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_CounterJNI
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* Method: getCounterStopped
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* Signature: (I)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterStopped(
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JNIEnv* env, jclass, jint id) {
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COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterStopped";
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COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
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int32_t status = 0;
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jboolean returnValue = HAL_GetCounterStopped((HAL_CounterHandle)id, &status);
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COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
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COUNTERJNI_LOG(logDEBUG) << "getCounterStoppedResult = " << (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_CounterJNI
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* Method: getCounterDirection
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* Signature: (I)Z
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|
*/
|
|
JNIEXPORT jboolean JNICALL
|
|
Java_edu_wpi_first_wpilibj_hal_CounterJNI_getCounterDirection(
|
|
JNIEnv* env, jclass, jint id) {
|
|
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterDirection";
|
|
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
|
|
int32_t status = 0;
|
|
jboolean returnValue = HAL_GetCounterDirection((HAL_CounterHandle)id, &status);
|
|
COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
|
|
COUNTERJNI_LOG(logDEBUG) << "getCounterDirectionResult = "
|
|
<< (jint)returnValue;
|
|
CheckStatus(env, status);
|
|
return returnValue;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_CounterJNI
|
|
* Method: setCounterReverseDirection
|
|
* Signature: (IZ)V
|
|
*/
|
|
JNIEXPORT void JNICALL
|
|
Java_edu_wpi_first_wpilibj_hal_CounterJNI_setCounterReverseDirection(
|
|
JNIEnv* env, jclass, jint id, jboolean value) {
|
|
COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterReverseDirection";
|
|
COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
|
|
COUNTERJNI_LOG(logDEBUG) << "ReverseDirection = " << (jint)value;
|
|
int32_t status = 0;
|
|
HAL_SetCounterReverseDirection((HAL_CounterHandle)id, value, &status);
|
|
COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
}
|
|
|
|
} // extern "C"
|