mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
255a3a5b12
Removed #if 0...#endif from PCM.cpp Change-Id: I2d117c87a3fa10bddebf83706f79c2e767d22a0d Update the HAL to the PCM/PDP changes Change-Id: If554b650e263f174e90864f1e9ffba91daf20f7e Update C++ to the PCM/PDP changes Change-Id: Ia3114d4526be1dc5cc2f74fd8f7ab44f204d15f2 Updated PCM/PDP in Java Change-Id: I8fe03afbcb1739d555e86abc0eaae1e12313d490
92 lines
3.2 KiB
C++
92 lines
3.2 KiB
C++
#include <jni.h>
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#include "Log.hpp"
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#include "HAL/HAL.hpp"
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#include "edu_wpi_first_wpilibj_hal_SolenoidJNI.h"
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TLogLevel solenoidJNILogLevel = logERROR;
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#define SOLENOIDJNI_LOG(level) \
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if (level > solenoidJNILogLevel) ; \
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else Log().Get(level)
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typedef void *VoidPointer;
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/*
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* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
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* Method: initializeSolenoidPort
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_initializeSolenoidPort
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(JNIEnv *env, jclass, jobject port_pointer, jobject status)
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{
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SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI initializeSolenoidPort";
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VoidPointer *port_pointer_pointer = (VoidPointer *)env->GetDirectBufferAddress(port_pointer);
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SOLENOIDJNI_LOG(logDEBUG) << "Port Ptr = " << *port_pointer_pointer;
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char *aschars = (char *)(*port_pointer_pointer);
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SOLENOIDJNI_LOG(logDEBUG) << '\t' << (int)aschars[0] << '\t' << (int)aschars[1] << std::endl;
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jint *status_pointer = (jint*)env->GetDirectBufferAddress(status);
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SOLENOIDJNI_LOG(logDEBUG) << "Status Ptr = " << status_pointer;
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VoidPointer *solenoid_port_pointer = new VoidPointer;
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*solenoid_port_pointer = initializeSolenoidPort(*port_pointer_pointer, status_pointer);
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SOLENOIDJNI_LOG(logDEBUG) << "Status = " << *status_pointer;
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SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Pointer = " << *solenoid_port_pointer;
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int *asints = (int *)(*solenoid_port_pointer);
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SOLENOIDJNI_LOG(logDEBUG) << '\t' << asints[0] << '\t' << asints[1] << std::endl;
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return env->NewDirectByteBuffer(solenoid_port_pointer, 4);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
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* Method: getPortWithModule
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* Signature: (BB)Ljava/nio/ByteBuffer;
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPortWithModule
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(JNIEnv *env, jclass, jbyte module, jbyte channel)
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{
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VoidPointer *port_pointer = new VoidPointer;
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*port_pointer = getPortWithModule(module, channel);
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return env->NewDirectByteBuffer(port_pointer, 4);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
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* Method: setSolenoid
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* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_setSolenoid
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(JNIEnv *env, jclass, jobject solenoid_port, jbyte value, jobject status)
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{
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SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI SetSolenoid";
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VoidPointer *solenoid_port_pointer = (VoidPointer *)env->GetDirectBufferAddress(solenoid_port);
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SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Pointer = " << *solenoid_port_pointer;
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jint *status_pointer = (jint*)env->GetDirectBufferAddress(status);
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SOLENOIDJNI_LOG(logDEBUG) << "Status Ptr = " << status_pointer;
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setSolenoid(*solenoid_port_pointer, value, status_pointer);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
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* Method: getSolenoid
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getSolenoid
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(JNIEnv *env, jclass, jobject solenoid_port, jobject status)
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{
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VoidPointer *solenoid_port_pointer = (VoidPointer *)env->GetDirectBufferAddress(solenoid_port);
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jint *status_pointer = (jint*)env->GetDirectBufferAddress(status);
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return getSolenoid(*solenoid_port_pointer, status_pointer);
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}
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