mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
213 lines
6.5 KiB
C++
213 lines
6.5 KiB
C++
#include <jni.h>
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#include <assert.h>
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#include "Log.h"
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#include "edu_wpi_first_wpilibj_hal_DIOJNI.h"
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#include "HAL/Digital.h"
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// set the logging level
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TLogLevel dioJNILogLevel = logDEBUG;
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#define DIOJNI_LOG(level) \
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if (level > dioJNILogLevel) ; \
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else Log().Get(level)
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: initializeDigitalPort
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDigitalPort
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI initializeDigitalPort";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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void** dioPtr = (void**)new unsigned char[4];
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*dioPtr = initializeDigitalPort(*javaId, statusPtr);
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DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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DIOJNI_LOG(logDEBUG) << "DIO Ptr = " << *dioPtr;
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return env->NewDirectByteBuffer( dioPtr, 4);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: allocateDIO
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* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_allocateDIO
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(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
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{
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI allocateDIO";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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jbyte returnValue = allocateDIO(*javaId, value, statusPtr);
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DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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DIOJNI_LOG(logDEBUG) << "allocateDIOResult = " << (jint)returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: freeDIO
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDIO
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDIO";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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freeDIO(*javaId, statusPtr);
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DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: setDIO
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* Signature: (Ljava/nio/ByteBuffer;SLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIO
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(JNIEnv *env, jclass, jobject id, jshort value, jobject status)
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{
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//DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDIO";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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//DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
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//DIOJNI_LOG(logDEBUG) << "Value = " << value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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//DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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setDIO(*javaId, value, statusPtr);
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//DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: getDIO
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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_DIOJNI_getDIO
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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//DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIO";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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//DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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//DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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jbyte returnValue = getDIO(*javaId, statusPtr);
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//DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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//DIOJNI_LOG(logDEBUG) << "getDIOResult = " << (jint)returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: getDIODirection
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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_DIOJNI_getDIODirection
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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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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: checkDigitalModule
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* Signature: (B)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_checkDigitalModule
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(JNIEnv *, jclass, jbyte value)
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{
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI checkDigitalModule";
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DIOJNI_LOG(logDEBUG) << "Module = " << (jint)value;
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jbyte returnValue = checkDigitalModule( value );
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DIOJNI_LOG(logDEBUG) << "checkDigitalModuleResult = " << (jint)returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: pulse
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* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_pulse
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(JNIEnv *, jclass, jobject, jdouble, 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_hal_DIOJNI
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* Method: isPulsing
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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_DIOJNI_isPulsing
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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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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: isAnyPulsing
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* Signature: (Ljava/nio/IntBuffer;)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_isAnyPulsing
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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_hal_DIOJNI
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* Method: isAnyPulsingWithModule
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* Signature: (BLjava/nio/IntBuffer;)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_isAnyPulsingWithModule
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(JNIEnv *, jclass, jbyte, 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_hal_DIOJNI
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* Method: getLoopTiming
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* Signature: (Ljava/nio/IntBuffer;)S
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*/
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JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getLoopTiming
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(JNIEnv * env, jclass, jobject status)
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{
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getLoopTimeing";
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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jshort returnValue = getLoopTiming( statusPtr );
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DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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DIOJNI_LOG(logDEBUG) << "LoopTiming = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: getLoopTimingWithModule
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* Signature: (BLjava/nio/IntBuffer;)S
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*/
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JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getLoopTimingWithModule
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(JNIEnv *, jclass, jbyte, jobject)
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{
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assert(false);
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}
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