mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
4514e4489a
builds two libraries, Athena and Desktop. Simulation should use Desktop, Robots should use Athena Also: - copied Driverstation and Joystick from Devices into Sim - Descreased dependency of pthreads in JNI. - removed Simulation ifdef from non simulation - added missing decprecated attribute for msvc - removed usage reporting from sim - removed unused pom.xml and constexpr Change-Id: If8eb540f9434dce17c77a245fda6985713e80b2d
651 lines
22 KiB
C++
651 lines
22 KiB
C++
#include <jni.h>
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#include <assert.h>
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#include "Log.hpp"
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#include "edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary.h"
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#include "HAL/HAL.hpp"
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//#include "NetworkCommunication/FRCComm.h"
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//#include "NetworkCommunication/UsageReporting.h"
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// set the logging level
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TLogLevel netCommLogLevel = logWARNING;
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#define NETCOMM_LOG(level) \
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if (level > netCommLogLevel) ; \
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else Log().Get(level)
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_nAICalibration_getLSBWeight
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* Signature: (IILjava/lang/Integer;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationAICalibrationGetLSBWeight
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(JNIEnv *, jclass, jint, jint, jobject)
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{
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assert(false);
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return 0;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_nAICalibration_getOffset
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* Signature: (IILjava/lang/Integer;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationAICalibrationGetOffset
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(JNIEnv *, jclass, jint, jint, jobject)
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{
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assert(false);
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return 0;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: getTargetClass
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getTargetClass
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(JNIEnv *, jclass)
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{
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assert(false);
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return 0;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_nLoadOut_getModulePresence
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* Signature: (IB)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationLoadOutGetModulePresence
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(JNIEnv *, jclass, jint, jbyte)
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{
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assert(false);
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return 0;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_nLoadOut_getTargetClass
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationLoadOutGetTargetClass
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(JNIEnv *, jclass)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: report
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* Signature: (IBBLjava/lang/String;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_report
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(JNIEnv *, jclass, jint, jbyte, jbyte, jstring)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_nUsageReporting_report
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* Signature: (BBBLjava/lang/String;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationUsageReportingReport
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(JNIEnv * paramEnv, jclass, jbyte paramResource, jbyte paramInstanceNumber, jbyte paramContext, jstring paramFeature)
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{
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const char * featureStr = paramEnv->GetStringUTFChars(paramFeature, NULL);
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NETCOMM_LOG(logDEBUG) << "Calling FRCNetworkCommunicationsLibrary report " << "res:"<< (unsigned int)paramResource << " instance:" << (unsigned int)paramInstanceNumber << " context:" << (unsigned int)paramContext << " feature:" << featureStr;
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jint returnValue = HALReport(paramResource, paramInstanceNumber, paramContext, featureStr);
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paramEnv->ReleaseStringUTFChars(paramFeature,featureStr);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: getFPGAHardwareVersion
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* Signature: (Ljava/nio/ShortBuffer;Ljava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getFPGAHardwareVersion
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(JNIEnv *, jclass, jobject, jobject)
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{
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assert(false);
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}
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//
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// field ids
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//
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bool initializeComplete = false;
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jclass dataClass;
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jfieldID packetIndexFieldID;
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jfieldID controlFieldID;
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jfieldID dsDigitalInFieldID;
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jfieldID teamIDFieldID;
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jfieldID dsID_AllianceFieldID;
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jfieldID dsID_PositionFieldID;
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jfieldID stick0AxesFieldID;
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jfieldID stick0ButtonsFieldID;
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jfieldID stick1AxesFieldID;
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jfieldID stick1ButtonsFieldID;
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jfieldID stick2AxesFieldID;
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jfieldID stick2ButtonsFieldID;
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jfieldID stick3AxesFieldID;
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jfieldID stick3ButtonsFieldID;
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jfieldID analog1FieldID;
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jfieldID analog2FieldID;
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jfieldID analog3FieldID;
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jfieldID analog4FieldID;
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jfieldID cRIOChecksumFieldID;
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jfieldID FPGAChecksum0FieldID;
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jfieldID FPGAChecksum1FieldID;
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jfieldID FPGAChecksum2FieldID;
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jfieldID FPGAChecksum3FieldID;
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jfieldID versionDataFieldID;
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: setErrorData
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* Signature: (Ljava/lang/String;II)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setErrorData
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(JNIEnv *, jclass, jstring, jint, jint)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: overrideIOConfig
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* Signature: (Ljava/lang/String;I)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_overrideIOConfig
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(JNIEnv *, jclass, jstring, jint)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: signalResyncActionDone
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_signalResyncActionDone
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(JNIEnv *, jclass)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: setNewDataOccurRef
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setNewDataOccurRef
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(JNIEnv *, jclass, jint)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: setResyncOccurRef
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setResyncOccurRef
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(JNIEnv *, jclass, jint)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_getVersionString
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* Signature: (Ljava/nio/ByteBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationGetVersionString
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(JNIEnv *, jclass, jobject)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_observeUserProgramStarting
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramStarting
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(JNIEnv *, jclass)
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{
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HALNetworkCommunicationObserveUserProgramStarting();
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_observeUserProgramDisabled
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramDisabled
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(JNIEnv *, jclass)
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{
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HALNetworkCommunicationObserveUserProgramDisabled();
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_observeUserProgramAutonomous
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramAutonomous
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(JNIEnv *, jclass)
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{
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HALNetworkCommunicationObserveUserProgramAutonomous();
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_observeUserProgramTeleop
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTeleop
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(JNIEnv *, jclass)
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{
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HALNetworkCommunicationObserveUserProgramTeleop();
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_observeUserProgramTest
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTest
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(JNIEnv *, jclass)
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{
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HALNetworkCommunicationObserveUserProgramTest();
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: FRCNetworkCommunicationReserve
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationReserve
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(JNIEnv *, jclass)
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{
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assert(1 == HALInitialize(0));
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: NativeHALGetControlWord
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetControlWord
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(JNIEnv *, jclass)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HAL Control Word";
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jint controlWord;
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HALGetControlWord((HALControlWord*)&controlWord);
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return controlWord;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: NativeHALGetAllianceStation
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetAllianceStation
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(JNIEnv *, jclass)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HAL Alliance Station";
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jint allianceStation;
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HALGetAllianceStation((HALAllianceStationID*)&allianceStation);
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return allianceStation;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickAxes
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* Signature: (B)[S
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*/
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JNIEXPORT jshortArray JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickAxes
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(JNIEnv * env, jclass, jbyte joystickNum)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALJoystickAxes";
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HALJoystickAxes axes;
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HALGetJoystickAxes(joystickNum, &axes);
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jshortArray axesArray = env->NewShortArray(axes.count);
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env->SetShortArrayRegion(axesArray, 0, axes.count, axes.axes);
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return axesArray;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickPOVs
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* Signature: (B)[S
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*/
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JNIEXPORT jshortArray JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickPOVs
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(JNIEnv * env, jclass, jbyte joystickNum)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALJoystickPOVs";
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HALJoystickPOVs povs;
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HALGetJoystickPOVs(joystickNum, &povs);
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jshortArray povsArray = env->NewShortArray(povs.count);
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env->SetShortArrayRegion(povsArray, 0, povs.count, povs.povs);
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return povsArray;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickButtons
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* Signature: (B)S
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickButtons
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(JNIEnv * env, jclass, jbyte joystickNum, jobject count)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALJoystickButtons";
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HALJoystickButtons joystickButtons;
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HALGetJoystickButtons(joystickNum, &joystickButtons);
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jbyte *countPtr = (jbyte*)env->GetDirectBufferAddress(count);
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NETCOMM_LOG(logDEBUG) << "Buttons = " << joystickButtons.buttons;
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NETCOMM_LOG(logDEBUG) << "Count = " << (jint)joystickButtons.count;
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*countPtr = joystickButtons.count;
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NETCOMM_LOG(logDEBUG) << "CountBuffer = " << (jint)*countPtr;
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return joystickButtons.buttons;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALSetJoystickOutputs
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* Signature: (BISS)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetJoystickOutputs
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(JNIEnv *, jclass, jbyte port, jint outputs, jshort leftRumble, jshort rightRumble)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALSetJoystickOutputs on port " << port;
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NETCOMM_LOG(logDEBUG) << "Outputs: " << outputs;
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NETCOMM_LOG(logDEBUG) << "Left Rumble: " << leftRumble << " Right Rumble: " << rightRumble;
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return HALSetJoystickOutputs(port, outputs, leftRumble, rightRumble);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickIsXbox
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* Signature: (B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickIsXbox
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(JNIEnv *, jclass, jbyte port)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickIsXbox";
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return HALGetJoystickIsXbox(port);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickType
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* Signature: (B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickType
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(JNIEnv *, jclass, jbyte port)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickType";
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return HALGetJoystickType(port);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickName
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* Signature: (B)Ljava/lang/String;
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*/
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JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickName
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(JNIEnv * env, jclass, jbyte port)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickName";
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return env->NewStringUTF(HALGetJoystickName(port));
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: setNewDataSem
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* Signature: ([B)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setNewDataSem
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(JNIEnv * env, jclass, jobject id )
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{
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MULTIWAIT_ID javaId = (MULTIWAIT_ID)env->GetDirectBufferAddress(id);
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NETCOMM_LOG(logDEBUG) << "Mutex Ptr = " << javaId;
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HALSetNewDataSem(javaId->native_handle());
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: JNIValueParameterTest
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* Signature: (ZBCSIJFD)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueParameterTest
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(JNIEnv *, jclass, jboolean booleanParam, jbyte byteParam, jchar charParam, jshort shortParam, jint intParam, jlong longParam, jfloat floatParam, jdouble doubleParam)
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{
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NETCOMM_LOG(logDEBUG) << "Boolean: " << booleanParam;
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NETCOMM_LOG(logDEBUG) << "Byte : " << byteParam;
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NETCOMM_LOG(logDEBUG) << "Char : " << charParam;
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NETCOMM_LOG(logDEBUG) << "Short : " << shortParam;
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NETCOMM_LOG(logDEBUG) << "Int : " << intParam;
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NETCOMM_LOG(logDEBUG) << "Long : " << longParam;
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NETCOMM_LOG(logDEBUG) << "Float : " << floatParam;
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NETCOMM_LOG(logDEBUG) << "Double : " << doubleParam;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: JNIValueReturnBooleanTest
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* Signature: (Z)Z
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnBooleanTest
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(JNIEnv *, jclass, jboolean booleanParam )
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{
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NETCOMM_LOG(logDEBUG) << "Boolean: " << booleanParam;
|
|
return !booleanParam;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIValueReturnByteTest
|
|
* Signature: (B)B
|
|
*/
|
|
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnByteTest
|
|
(JNIEnv *, jclass, jbyte byteParam)
|
|
{
|
|
NETCOMM_LOG(logDEBUG) << "Byte: " << byteParam;
|
|
return byteParam+1;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIValueReturnCharTest
|
|
* Signature: (C)C
|
|
*/
|
|
JNIEXPORT jchar JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnCharTest
|
|
(JNIEnv *, jclass, jchar charParam)
|
|
{
|
|
NETCOMM_LOG(logDEBUG) << "Char: " << charParam;
|
|
return charParam+1;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIValueReturnShortTest
|
|
* Signature: (S)S
|
|
*/
|
|
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnShortTest
|
|
(JNIEnv *, jclass, jshort shortParam)
|
|
{
|
|
NETCOMM_LOG(logDEBUG) << "Short: " << shortParam;
|
|
return shortParam+1;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIValueReturnIntTest
|
|
* Signature: (I)I
|
|
*/
|
|
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnIntTest
|
|
(JNIEnv *, jclass, jint intParam)
|
|
{
|
|
NETCOMM_LOG(logDEBUG) << "Int: " << intParam;
|
|
return intParam+1;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIValueReturnLongTest
|
|
* Signature: (J)J
|
|
*/
|
|
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnLongTest
|
|
(JNIEnv *, jclass, jlong longParam)
|
|
{
|
|
NETCOMM_LOG(logDEBUG) << "Long: " << longParam;
|
|
return longParam+1;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIValueReturnFloatTest
|
|
* Signature: (F)F
|
|
*/
|
|
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnFloatTest
|
|
(JNIEnv *, jclass, jfloat floatParam)
|
|
{
|
|
NETCOMM_LOG(logDEBUG) << "Float: " << floatParam;
|
|
return floatParam/100.0f;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIValueReturnDoubleTest
|
|
* Signature: (D)D
|
|
*/
|
|
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnDoubleTest
|
|
(JNIEnv *, jclass, jdouble doubleParam)
|
|
{
|
|
NETCOMM_LOG(logDEBUG) << "Double: " << doubleParam;
|
|
return doubleParam * 100.0;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIObjectReturnString
|
|
* Signature: (Ljava/lang/String;)Ljava/lang/String;
|
|
*/
|
|
JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIObjectReturnStringTest
|
|
(JNIEnv * env, jclass, jstring stringParam)
|
|
{
|
|
const char * stringParamLocal = env->GetStringUTFChars(stringParam, NULL);
|
|
NETCOMM_LOG(logDEBUG) << "String: " << stringParamLocal;
|
|
env->ReleaseStringUTFChars(stringParam,stringParamLocal);
|
|
|
|
char returnStringLocal[] = "this is the return string";
|
|
|
|
return env->NewStringUTF(returnStringLocal);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIObjectReturnByteBufferTest
|
|
* Signature: (Ljava/nio/ByteBuffer;)Ljava/nio/ByteBuffer;
|
|
*/
|
|
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIObjectReturnByteBufferTest
|
|
(JNIEnv * env, jclass, jobject byteArrayIn )
|
|
{
|
|
jbyte * byteArray = (jbyte*)env->GetDirectBufferAddress(byteArrayIn);
|
|
NETCOMM_LOG(logDEBUG) << "Ptr: " << (long)byteArray;
|
|
jlong byteArrayLength = env->GetDirectBufferCapacity(byteArrayIn);
|
|
NETCOMM_LOG(logDEBUG) << "Capacity: " << byteArrayLength;
|
|
NETCOMM_LOG(logDEBUG) << "Byte0: " << (short)byteArray[0];
|
|
NETCOMM_LOG(logDEBUG) << "Byte1: " << (short)byteArray[1];
|
|
NETCOMM_LOG(logDEBUG) << "Byte2: " << (short)byteArray[2];
|
|
NETCOMM_LOG(logDEBUG) << "Byte3: " << (short)byteArray[3];
|
|
|
|
jbyte * returnByteArray = new jbyte[4];
|
|
returnByteArray[0] = byteArray[0];
|
|
returnByteArray[1] = byteArray[1];
|
|
returnByteArray[2] = byteArray[2];
|
|
returnByteArray[3] = byteArray[3];
|
|
|
|
return env->NewDirectByteBuffer(returnByteArray, 4);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIObjectAndParamReturnIntBufferTest
|
|
* Signature: (Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
|
|
*/
|
|
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIObjectAndParamReturnIntBufferTest
|
|
(JNIEnv * env, jclass, jobject intArrayIn)
|
|
{
|
|
jint * intArray = (jint*)env->GetDirectBufferAddress(intArrayIn);
|
|
jbyte * byteArray = (jbyte*)env->GetDirectBufferAddress(intArrayIn);
|
|
NETCOMM_LOG(logDEBUG) << "Ptr: " << (long)intArray;
|
|
jlong byteArrayLength = env->GetDirectBufferCapacity(intArrayIn);
|
|
NETCOMM_LOG(logDEBUG) << "Capacity: " << byteArrayLength;
|
|
NETCOMM_LOG(logDEBUG) << "Int0: " << intArray[0];
|
|
NETCOMM_LOG(logDEBUG) << "Byte0: " << (short)byteArray[0];
|
|
NETCOMM_LOG(logDEBUG) << "Byte1: " << (short)byteArray[1];
|
|
NETCOMM_LOG(logDEBUG) << "Byte2: " << (short)byteArray[2];
|
|
NETCOMM_LOG(logDEBUG) << "Byte3: " << (short)byteArray[3];
|
|
|
|
// increment the param
|
|
intArray[0]++;
|
|
|
|
jbyte * returnByteArray = new jbyte[4];
|
|
returnByteArray[0] = byteArray[0];
|
|
returnByteArray[1] = byteArray[1];
|
|
returnByteArray[2] = byteArray[2];
|
|
returnByteArray[3] = byteArray[3];
|
|
|
|
return env->NewDirectByteBuffer(returnByteArray, 4);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
|
|
* Method: HALGetMatchTime
|
|
* Signature: ()F
|
|
*/
|
|
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetMatchTime
|
|
(JNIEnv * env, jclass)
|
|
{
|
|
jfloat matchTime;
|
|
HALGetMatchTime((float*)&matchTime);
|
|
return matchTime;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: HALGetSystemActive
|
|
* Signature: (Ljava/nio/IntBuffer;)Z
|
|
*/
|
|
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetSystemActive
|
|
(JNIEnv * env, jclass, jobject status)
|
|
{
|
|
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
|
return HALGetSystemActive((int32_t*)statusPtr);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: HALGetBrownedOut
|
|
* Signature: (Ljava/nio/IntBuffer;)Z
|
|
*/
|
|
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetBrownedOut
|
|
(JNIEnv * env, jclass, jobject status)
|
|
{
|
|
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
|
return HALGetBrownedOut((int32_t*)statusPtr);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: HALSetErrorData
|
|
* Signature: (Ljava/lang/String;)I
|
|
*/
|
|
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetErrorData
|
|
(JNIEnv * env, jclass, jstring error)
|
|
{
|
|
const char * errorStr = env->GetStringUTFChars(error, NULL);
|
|
jsize length = env->GetStringUTFLength(error);
|
|
|
|
NETCOMM_LOG(logDEBUG) << "Set Error: " << errorStr;
|
|
NETCOMM_LOG(logDEBUG) << "Length: " << length;
|
|
jint returnValue = HALSetErrorData(errorStr, (jint) length, 0);
|
|
env->ReleaseStringUTFChars(error,errorStr);
|
|
return returnValue;
|
|
}
|
|
|